# 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_5v3.rte # Mission File: 2018PB_5v3.cfg # Distance: 81538.480568 (m) # Estimated Time: 58845 (s) 16.346 (hr) # Abort Time: 74697 (s) # Max battery life: 79200 (s) # Safety margin: 900 (s) # Ascend time: 5404 (s) # Way Points: 71 # Route Points: 756 # 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: 3776.651476 (m) # Abort Vehicle Depth: 3799.151476 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 3627.42926 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 -108.863717 23.964054 -3687.429260 0.000000 3 # 1 -108.864928 23.965288 -3678.440247 184.076833 3 # 2 -108.863717 23.964054 -3687.429260 368.153666 3 # 3 -108.872357 23.965647 -3616.547791 1265.215723 3 # 4 -108.872042 23.966970 -3632.463745 1415.241316 3 # 5 -108.863435 23.965240 -3688.626343 2312.121712 3 # 6 -108.863120 23.966563 -3692.438354 2462.148050 3 # 7 -108.871727 23.968292 -3623.703369 3358.996198 3 # 8 -108.871412 23.969615 -3626.164429 3509.021748 3 # 9 -108.862805 23.967886 -3688.431519 4405.861309 3 # 10 -108.862490 23.969209 -3691.992737 4555.887605 3 # 11 -108.871098 23.970938 -3646.306335 5452.818024 3 # 12 -108.870783 23.972261 -3662.699646 5602.843532 3 # 13 -108.862175 23.970532 -3684.367432 6499.765362 3 # 14 -108.861861 23.971854 -3676.755493 6649.661659 3 # 15 -108.870468 23.973584 -3684.405396 7546.499126 3 # 16 -108.868335 23.978410 -3707.383789 8123.473899 3 # 17 -108.867385 23.984700 -3700.053711 8826.943126 3 # 18 -108.863848 23.992374 -3758.150757 9750.186149 3 # 19 -108.862636 23.995113 -3746.768799 10077.723495 3 # 20 -108.861096 24.000861 -3735.486511 10733.483764 3 # 21 -108.862472 24.003479 -3735.367513 11055.559149 3 # 22 -108.860277 24.008836 -3778.485026 11689.635463 3 # 23 -108.859196 24.012899 -3779.061198 12152.966494 3 # 24 -108.858640 24.015849 -3780.010742 12484.572407 3 # 25 -108.844359 24.011093 -3788.100342 14030.324620 3 # 26 -108.848126 24.001493 -3788.554626 15160.793793 3 # 27 -108.825591 23.994119 -3783.884521 17595.401787 3 # 28 -108.825099 23.995383 -3783.984009 17744.112788 3 # 29 -108.847634 24.002667 -3790.548706 20175.373883 3 # 30 -108.847143 24.003931 -3788.917053 20324.047857 3 # 31 -108.824739 23.996617 -3779.920837 22743.827122 3 # 32 -108.824215 23.997821 -3780.034668 22887.473788 3 # 33 -108.846619 24.005134 -3789.785400 25307.196697 3 # 34 -108.846226 24.006308 -3790.893799 25443.262624 3 # 35 -108.823658 23.998965 -3772.398926 27879.807902 3 # 36 -108.823232 24.000078 -3766.731018 28010.507501 3 # 37 -108.845767 24.007452 -3791.072449 30445.019266 3 # 38 -108.845243 24.008746 -3789.715576 30597.965260 3 # 39 -108.815109 23.998784 -3742.652344 33857.163373 3 # 40 -108.814716 23.999958 -3715.136393 33993.205268 3 # 41 -108.844883 24.009890 -3789.342346 37254.430499 3 # 42 -108.844359 24.011003 -3788.031006 37388.765262 3 # 43 -108.814422 24.001041 -3701.631836 40629.131132 3 # 44 -108.814094 24.002245 -3687.327474 40766.596012 3 # 45 -108.843868 24.012177 -3787.340820 43990.171777 3 # 46 -108.843376 24.013351 -3789.080750 44129.531516 3 # 47 -108.813439 24.003208 -3678.071106 47376.707211 3 # 48 -108.813341 24.004563 -3666.394653 47527.147325 3 # 49 -108.843081 24.014524 -3785.926636 50748.531684 3 # 50 -108.842590 24.015698 -3786.620361 50887.854666 3 # 51 -108.813406 24.005857 -3653.677673 54051.508483 3 # 52 -108.813504 24.007301 -3651.904968 54211.787841 3 # 53 -108.842132 24.016932 -3785.141479 57314.282627 3 # 54 -108.841607 24.018136 -3783.553284 57457.962905 3 # 55 -108.813537 24.008806 -3650.084900 60495.665311 3 # 56 -108.813832 24.010341 -3649.581055 60668.344886 3 # 57 -108.841116 24.019310 -3784.435364 63617.218603 3 # 58 -108.840658 24.020543 -3781.850403 63761.542275 3 # 59 -108.814291 24.011635 -3644.462158 66620.366325 3 # 60 -108.814782 24.012989 -3648.745117 66778.467929 3 # 61 -108.840363 24.021627 -3778.845459 69551.877069 3 # 62 -108.839872 24.022891 -3778.055542 69700.549478 3 # 63 -108.815175 24.014344 -3644.743164 72386.112605 3 # 64 -108.815502 24.015578 -3637.129700 72526.808870 3 # 65 -108.839347 24.024095 -3774.537170 75130.193456 3 # 66 -108.838856 24.025269 -3766.740112 75269.515537 3 # 67 -108.816092 24.016932 -3633.383850 77763.222170 3 # 68 -108.816551 24.018316 -3624.082520 77923.500585 3 # 69 -108.841935 24.027676 -3762.359497 80706.791518 3 # 70 -108.842426 24.035170 -3602.893066 81538.480568 3 # # A total of 756 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 62100; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3776.651476; abortDepth = 3799.151476; 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 = 5404; 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 70 # Segment length 123.581858 meters # Minimum depth: 3602.893066 meters looking forward 100.000000 meters along route # Maximum depth: 3622.594290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3552.893066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.035170; longitude = -108.842426; duration = 494; # abortOnTimeout = True; initialDepth = 3574.228427; finalDepth = 3552.893066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3552.893066 # Seafloor depth: -3602.893066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 100.201195 meters # Minimum depth: 3624.228427 meters looking forward 100.000000 meters along route # Maximum depth: 3649.461683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.228427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.034056; longitude = -108.842353; duration = 400; initialDepth = 3601.077256; finalDepth = 3574.228427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3574.228427 # Seafloor depth: -3624.228427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.201191 meters # Minimum depth: 3652.316453 meters looking forward 100.000000 meters along route # Maximum depth: 3683.531191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.077256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.033154; longitude = -108.842294; duration = 400; initialDepth = 3627.424955; finalDepth = 3601.077256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2391971987277 # Actual altitude: 51.2391971987277 # Commanded vehicle depth: 3601.07725580127 # Seafloor depth: -3652.316453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.201185 meters # Minimum depth: 3677.424955 meters looking forward 100.000000 meters along route # Maximum depth: 3684.674271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.424955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.032251; longitude = -108.842235; duration = 400; initialDepth = 3633.916018; finalDepth = 3627.424955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2493159999999 # Actual altitude: 57.2493159999999 # Commanded vehicle depth: 3627.424955 # Seafloor depth: -3684.674271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.201180 meters # Minimum depth: 3683.916018 meters looking forward 100.000000 meters along route # Maximum depth: 3735.094764 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.916018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.031348; longitude = -108.842176; duration = 400; initialDepth = 3660.764843; finalDepth = 3633.916018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2493159999999 # Actual altitude: 57.2493159999999 # Commanded vehicle depth: 3633.916018 # Seafloor depth: -3683.916018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.201174 meters # Minimum depth: 3737.947509 meters looking forward 100.000000 meters along route # Maximum depth: 3752.319402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.764843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.030445; longitude = -108.842116; duration = 400; initialDepth = 3687.613666; finalDepth = 3660.764843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1826662179651 # Actual altitude: 77.1826662179651 # Commanded vehicle depth: 3660.76484278203 # Seafloor depth: -3737.947509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 100.201170 meters # Minimum depth: 3753.168630 meters looking forward 100.000000 meters along route # Maximum depth: 3757.837349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3687.613666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.029542; longitude = -108.842057; duration = 400; initialDepth = 3708.235476; finalDepth = 3687.613666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1826662179651 # Actual altitude: 77.1826662179651 # Commanded vehicle depth: 3687.61366595638 # Seafloor depth: -3753.168630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 106.900097 meters # Minimum depth: 3758.235476 meters looking forward 100.000000 meters along route # Maximum depth: 3762.005170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.235476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.028639; longitude = -108.841998; duration = 427; initialDepth = 3712.359497; finalDepth = 3708.235476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.554964043622 # Actual altitude: 65.554964043622 # Commanded vehicle depth: 3708.235476 # Seafloor depth: -3758.235476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 69 # Segment length 93.369097 meters # Minimum depth: 3762.359497 meters looking forward 100.000000 meters along route # Maximum depth: 3764.151624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.359497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.027676; longitude = -108.841935; duration = 373; # abortOnTimeout = True; initialDepth = 3711.134662; finalDepth = 3712.359497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3712.359497 # Seafloor depth: -3762.359497 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 107.738650 meters # Minimum depth: 3761.134662 meters looking forward 100.000000 meters along route # Maximum depth: 3764.140035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.134662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.027362; longitude = -108.841083; duration = 430; initialDepth = 3709.803255; finalDepth = 3711.134662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.005373 # Actual altitude: 53.005373 # Commanded vehicle depth: 3711.134662 # Seafloor depth: -3764.140035 # 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 69 # Segment length 107.738968 meters # Minimum depth: 3759.803255 meters looking forward 100.000000 meters along route # Maximum depth: 3760.958469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.803255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.027000; longitude = -108.840101; duration = 430; initialDepth = 3708.149393; finalDepth = 3709.803255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.005373 # Actual altitude: 53.005373 # Commanded vehicle depth: 3709.803255 # Seafloor depth: -3760.958469 # 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 69 # Segment length 107.739287 meters # Minimum depth: 3758.149393 meters looking forward 100.000000 meters along route # Maximum depth: 3759.944334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.149393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.026637; longitude = -108.839118; duration = 430; initialDepth = 3708.125940; finalDepth = 3708.149393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7949409999997 # Actual altitude: 51.7949409999997 # Commanded vehicle depth: 3708.149393 # Seafloor depth: -3759.944334 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.739605 meters # Minimum depth: 3758.125940 meters looking forward 100.000000 meters along route # Maximum depth: 3759.275792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.125940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.026275; longitude = -108.838136; duration = 430; initialDepth = 3709.455253; finalDepth = 3708.125940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7949409999997 # Actual altitude: 51.7949409999997 # Commanded vehicle depth: 3708.12594 # Seafloor depth: -3758.125940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.739923 meters # Minimum depth: 3759.455253 meters looking forward 100.000000 meters along route # Maximum depth: 3766.471569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.455253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.025913; longitude = -108.837153; duration = 430; initialDepth = 3716.914476; finalDepth = 3709.455253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3709.455253 # Seafloor depth: -3759.455253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.740241 meters # Minimum depth: 3766.914476 meters looking forward 100.000000 meters along route # Maximum depth: 3769.483127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.914476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.025550; longitude = -108.836170; duration = 430; initialDepth = 3712.582816; finalDepth = 3716.914476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3716.914476 # Seafloor depth: -3766.914476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.740560 meters # Minimum depth: 3762.582816 meters looking forward 100.000000 meters along route # Maximum depth: 3767.004011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.582816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.025188; longitude = -108.835188; duration = 430; initialDepth = 3680.147932; finalDepth = 3712.582816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4211949999999 # Actual altitude: 54.4211949999999 # Commanded vehicle depth: 3712.582816 # Seafloor depth: -3767.004011 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.740878 meters # Minimum depth: 3730.147932 meters looking forward 100.000000 meters along route # Maximum depth: 3762.163318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.147932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024826; longitude = -108.834205; duration = 430; initialDepth = 3636.809418; finalDepth = 3680.147932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.015386 # Actual altitude: 82.015386 # Commanded vehicle depth: 3680.147932 # Seafloor depth: -3762.163318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.741196 meters # Minimum depth: 3686.809418 meters looking forward 100.000000 meters along route # Maximum depth: 3726.077122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.809418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024463; longitude = -108.833222; duration = 430; initialDepth = 3630.108189; finalDepth = 3636.809418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2677040000003 # Actual altitude: 89.2677040000003 # Commanded vehicle depth: 3636.809418 # Seafloor depth: -3726.077122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.741515 meters # Minimum depth: 3680.108189 meters looking forward 100.000000 meters along route # Maximum depth: 3686.356974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.108189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024101; longitude = -108.832240; duration = 430; initialDepth = 3603.808096; finalDepth = 3630.108189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2677040000003 # Actual altitude: 89.2677040000003 # Commanded vehicle depth: 3630.108189 # Seafloor depth: -3686.356974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.741834 meters # Minimum depth: 3653.808096 meters looking forward 100.000000 meters along route # Maximum depth: 3678.755260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.808096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023739; longitude = -108.831257; duration = 430; initialDepth = 3598.356081; finalDepth = 3603.808096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9471639999997 # Actual altitude: 74.9471639999997 # Commanded vehicle depth: 3603.808096 # Seafloor depth: -3678.755260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.742151 meters # Minimum depth: 3648.356081 meters looking forward 100.000000 meters along route # Maximum depth: 3652.492932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.356081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023376; longitude = -108.830275; duration = 430; initialDepth = 3595.389821; finalDepth = 3598.356081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9471639999997 # Actual altitude: 74.9471639999997 # Commanded vehicle depth: 3598.356081 # Seafloor depth: -3652.492932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.742471 meters # Minimum depth: 3645.389821 meters looking forward 100.000000 meters along route # Maximum depth: 3651.355961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.389821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023014; longitude = -108.829292; duration = 430; initialDepth = 3583.580145; finalDepth = 3595.389821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3750619999996 # Actual altitude: 55.3750619999996 # Commanded vehicle depth: 3595.389821 # Seafloor depth: -3650.764883 # 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 69 # Segment length 107.742788 meters # Minimum depth: 3633.580145 meters looking forward 100.000000 meters along route # Maximum depth: 3644.226185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.580145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022652; longitude = -108.828309; duration = 430; initialDepth = 3578.696899; finalDepth = 3583.580145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6460400000001 # Actual altitude: 60.6460400000001 # Commanded vehicle depth: 3583.580145 # Seafloor depth: -3644.226185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.743108 meters # Minimum depth: 3628.696899 meters looking forward 100.000000 meters along route # Maximum depth: 3632.987487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.696899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022289; longitude = -108.827327; duration = 430; initialDepth = 3578.898956; finalDepth = 3578.696899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6460400000001 # Actual altitude: 60.6460400000001 # Commanded vehicle depth: 3578.696899 # Seafloor depth: -3632.987487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.743425 meters # Minimum depth: 3628.898956 meters looking forward 100.000000 meters along route # Maximum depth: 3634.273052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3578.898956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021927; longitude = -108.826344; duration = 430; initialDepth = 3584.976044; finalDepth = 3578.898956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2905879999998 # Actual altitude: 54.2905879999998 # Commanded vehicle depth: 3578.898956 # Seafloor depth: -3628.898956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.743745 meters # Minimum depth: 3634.976044 meters looking forward 100.000000 meters along route # Maximum depth: 3637.689447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.976044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021565; longitude = -108.825361; duration = 430; initialDepth = 3587.562425; finalDepth = 3584.976044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3584.976044 # Seafloor depth: -3634.976044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.744063 meters # Minimum depth: 3637.562425 meters looking forward 100.000000 meters along route # Maximum depth: 3641.986783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.562425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021202; longitude = -108.824379; duration = 430; initialDepth = 3592.576379; finalDepth = 3587.562425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.562425 # Seafloor depth: -3637.562425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.744381 meters # Minimum depth: 3642.576379 meters looking forward 100.000000 meters along route # Maximum depth: 3644.509523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.576379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020840; longitude = -108.823396; duration = 430; initialDepth = 3585.028883; finalDepth = 3592.576379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3592.576379 # Seafloor depth: -3642.576379 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.744701 meters # Minimum depth: 3635.028883 meters looking forward 100.000000 meters along route # Maximum depth: 3641.683134 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.028883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020478; longitude = -108.822414; duration = 430; initialDepth = 3584.180752; finalDepth = 3585.028883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6542509999999 # Actual altitude: 56.6542509999999 # Commanded vehicle depth: 3585.028883 # Seafloor depth: -3641.683134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.745019 meters # Minimum depth: 3634.180752 meters looking forward 100.000000 meters along route # Maximum depth: 3635.307591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3584.180752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020115; longitude = -108.821431; duration = 430; initialDepth = 3573.453576; finalDepth = 3584.180752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6542509999999 # Actual altitude: 56.6542509999999 # Commanded vehicle depth: 3584.180752 # Seafloor depth: -3634.955519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.745337 meters # Minimum depth: 3623.453576 meters looking forward 100.000000 meters along route # Maximum depth: 3633.615412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.453576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019753; longitude = -108.820448; duration = 430; initialDepth = 3567.202453; finalDepth = 3573.453576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1618360000002 # Actual altitude: 60.1618360000002 # Commanded vehicle depth: 3573.453576 # Seafloor depth: -3633.615412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.745657 meters # Minimum depth: 3617.202453 meters looking forward 100.000000 meters along route # Maximum depth: 3621.791715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.202453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019391; longitude = -108.819466; duration = 430; initialDepth = 3565.977847; finalDepth = 3567.202453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1618360000002 # Actual altitude: 60.1618360000002 # Commanded vehicle depth: 3567.202453 # Seafloor depth: -3621.791715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.745975 meters # Minimum depth: 3615.977847 meters looking forward 100.000000 meters along route # Maximum depth: 3619.902177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3565.977847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019028; longitude = -108.818483; duration = 430; initialDepth = 3564.711214; finalDepth = 3565.977847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.589262 # Actual altitude: 54.589262 # Commanded vehicle depth: 3565.977847 # Seafloor depth: -3618.539034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 104.106358 meters # Minimum depth: 3614.711214 meters looking forward 100.000000 meters along route # Maximum depth: 3623.533646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3564.711214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018666; longitude = -108.817500; duration = 416; initialDepth = 3574.082520; finalDepth = 3564.711214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5611869999998 # Actual altitude: 52.5611869999998 # Commanded vehicle depth: 3564.711214 # Seafloor depth: -3615.161336 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 68 # Segment length 160.278415 meters # Minimum depth: 3624.082520 meters looking forward 100.000000 meters along route # Maximum depth: 3633.160623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.082520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018316; longitude = -108.816551; duration = 641; # abortOnTimeout = True; initialDepth = 3581.481728; finalDepth = 3574.082520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.4501220000002 # Actual altitude: 50.4501220000002 # Commanded vehicle depth: 3574.08252 # Seafloor depth: -3624.082520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 67 # Segment length 132.763662 meters # Minimum depth: 3631.481728 meters looking forward 100.000000 meters along route # Maximum depth: 3633.931304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3581.481728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016932; longitude = -108.816092; duration = 531; # abortOnTimeout = True; initialDepth = 3573.013570; finalDepth = 3581.481728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.902122 # Actual altitude: 51.902122 # Commanded vehicle depth: 3581.481728 # Seafloor depth: -3633.383850 # 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 67 # Segment length 107.645825 meters # Minimum depth: 3623.013570 meters looking forward 100.000000 meters along route # Maximum depth: 3630.845191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.013570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017376; longitude = -108.817304; duration = 430; initialDepth = 3566.364267; finalDepth = 3573.013570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8316209999998 # Actual altitude: 57.8316209999998 # Commanded vehicle depth: 3573.01357 # Seafloor depth: -3630.845191 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.645507 meters # Minimum depth: 3616.364267 meters looking forward 100.000000 meters along route # Maximum depth: 3622.801454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3566.364267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017736; longitude = -108.818287; duration = 430; initialDepth = 3565.747791; finalDepth = 3566.364267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8316209999998 # Actual altitude: 57.8316209999998 # Commanded vehicle depth: 3566.364267 # Seafloor depth: -3622.801454 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.645191 meters # Minimum depth: 3615.747791 meters looking forward 100.000000 meters along route # Maximum depth: 3623.528470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3565.747791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018096; longitude = -108.819269; duration = 430; initialDepth = 3574.523802; finalDepth = 3565.747791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.437187 # Actual altitude: 56.437187 # Commanded vehicle depth: 3565.747791 # Seafloor depth: -3616.130902 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.644873 meters # Minimum depth: 3624.523802 meters looking forward 100.000000 meters along route # Maximum depth: 3640.718893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.523802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018455; longitude = -108.820252; duration = 430; initialDepth = 3591.152441; finalDepth = 3574.523802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3831110000001 # Actual altitude: 50.3831110000001 # Commanded vehicle depth: 3574.523802 # Seafloor depth: -3624.523802 # 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 67 # Segment length 107.644556 meters # Minimum depth: 3641.152441 meters looking forward 100.000000 meters along route # Maximum depth: 3647.531926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3591.152441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018815; longitude = -108.821234; duration = 430; initialDepth = 3597.824890; finalDepth = 3591.152441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3591.152441 # Seafloor depth: -3641.152441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.644239 meters # Minimum depth: 3647.824890 meters looking forward 100.000000 meters along route # Maximum depth: 3653.590800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.824890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019175; longitude = -108.822217; duration = 430; initialDepth = 3603.702935; finalDepth = 3597.824890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3597.82489 # Seafloor depth: -3647.824890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.643922 meters # Minimum depth: 3653.702935 meters looking forward 100.000000 meters along route # Maximum depth: 3654.438589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.702935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019535; longitude = -108.823200; duration = 430; initialDepth = 3603.010011; finalDepth = 3603.702935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.702935 # Seafloor depth: -3653.702935 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.643605 meters # Minimum depth: 3653.010011 meters looking forward 100.000000 meters along route # Maximum depth: 3654.368826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.010011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019895; longitude = -108.824182; duration = 430; initialDepth = 3601.982757; finalDepth = 3603.010011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358815 # Actual altitude: 51.358815 # Commanded vehicle depth: 3603.010011 # Seafloor depth: -3654.368826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.643288 meters # Minimum depth: 3651.982757 meters looking forward 100.000000 meters along route # Maximum depth: 3652.889918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.982757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020255; longitude = -108.825165; duration = 430; initialDepth = 3602.926827; finalDepth = 3601.982757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.358815 # Actual altitude: 51.358815 # Commanded vehicle depth: 3601.982757 # Seafloor depth: -3652.889918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.642971 meters # Minimum depth: 3652.926827 meters looking forward 100.000000 meters along route # Maximum depth: 3654.553731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3602.926827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020615; longitude = -108.826148; duration = 430; initialDepth = 3604.585125; finalDepth = 3602.926827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9071609999996 # Actual altitude: 50.9071609999996 # Commanded vehicle depth: 3602.926827 # Seafloor depth: -3652.926827 # 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 67 # Segment length 107.642654 meters # Minimum depth: 3654.585125 meters looking forward 100.000000 meters along route # Maximum depth: 3665.067289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.585125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020975; longitude = -108.827130; duration = 430; initialDepth = 3615.588734; finalDepth = 3604.585125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3604.585125 # Seafloor depth: -3654.585125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.642337 meters # Minimum depth: 3665.588734 meters looking forward 100.000000 meters along route # Maximum depth: 3699.781670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.588734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021334; longitude = -108.828113; duration = 430; initialDepth = 3644.431411; finalDepth = 3615.588734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3615.588734 # Seafloor depth: -3665.588734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.642020 meters # Minimum depth: 3700.495100 meters looking forward 100.000000 meters along route # Maximum depth: 3723.868559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.431411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021694; longitude = -108.829095; duration = 430; initialDepth = 3673.274003; finalDepth = 3644.431411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0636892446764 # Actual altitude: 56.0636892446764 # Commanded vehicle depth: 3644.43141075532 # Seafloor depth: -3700.495100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.641703 meters # Minimum depth: 3724.116821 meters looking forward 100.000000 meters along route # Maximum depth: 3738.961493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.274003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022054; longitude = -108.830078; duration = 430; initialDepth = 3689.151831; finalDepth = 3673.274003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0636892446764 # Actual altitude: 56.0636892446764 # Commanded vehicle depth: 3673.27400257076 # Seafloor depth: -3724.116821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.641387 meters # Minimum depth: 3739.151831 meters looking forward 100.000000 meters along route # Maximum depth: 3750.779313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3689.151831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022414; longitude = -108.831061; duration = 430; initialDepth = 3699.319054; finalDepth = 3689.151831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8428184292447 # Actual altitude: 50.8428184292447 # Commanded vehicle depth: 3689.151831 # Seafloor depth: -3739.151831 # 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 67 # Segment length 107.641069 meters # Minimum depth: 3749.319054 meters looking forward 100.000000 meters along route # Maximum depth: 3763.368701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3699.319054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022774; longitude = -108.832043; duration = 430; initialDepth = 3713.495228; finalDepth = 3699.319054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9222070000001 # Actual altitude: 50.9222070000001 # Commanded vehicle depth: 3699.319054 # Seafloor depth: -3750.241261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.640753 meters # Minimum depth: 3763.495228 meters looking forward 100.000000 meters along route # Maximum depth: 3772.307483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3713.495228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023134; longitude = -108.833026; duration = 430; initialDepth = 3721.802910; finalDepth = 3713.495228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9222070000001 # Actual altitude: 50.9222070000001 # Commanded vehicle depth: 3713.495228 # Seafloor depth: -3763.495228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 107.779074 meters # Minimum depth: 3771.802910 meters looking forward 100.000000 meters along route # Maximum depth: 3773.048650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.802910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023494; longitude = -108.834009; duration = 431; initialDepth = 3718.497590; finalDepth = 3721.802910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.50767 # Actual altitude: 50.50767 # Commanded vehicle depth: 3721.80291 # Seafloor depth: -3772.310580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 108.021619 meters # Minimum depth: 3768.497590 meters looking forward 100.000000 meters along route # Maximum depth: 3771.799291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3718.497590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023854; longitude = -108.834992; duration = 432; initialDepth = 3717.744753; finalDepth = 3718.497590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3017009999999 # Actual altitude: 53.3017009999999 # Commanded vehicle depth: 3718.49759 # Seafloor depth: -3771.799291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 108.021299 meters # Minimum depth: 3767.744753 meters looking forward 100.000000 meters along route # Maximum depth: 3768.488960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.744753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024215; longitude = -108.835979; duration = 432; initialDepth = 3717.592709; finalDepth = 3717.744753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3017009999999 # Actual altitude: 53.3017009999999 # Commanded vehicle depth: 3717.744753 # Seafloor depth: -3768.488960 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 106.737851 meters # Minimum depth: 3767.592709 meters looking forward 100.000000 meters along route # Maximum depth: 3767.739056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.592709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024576; longitude = -108.836965; duration = 426; initialDepth = 3716.654408; finalDepth = 3717.592709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7442070000002 # Actual altitude: 50.7442070000002 # Commanded vehicle depth: 3717.592709 # Seafloor depth: -3767.739056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 100.447228 meters # Minimum depth: 3766.654408 meters looking forward 100.000000 meters along route # Maximum depth: 3767.697251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.654408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024933; longitude = -108.837939; duration = 401; initialDepth = 3716.740112; finalDepth = 3716.654408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0428430000002 # Actual altitude: 51.0428430000002 # Commanded vehicle depth: 3716.654408 # Seafloor depth: -3767.697251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 66 # Segment length 139.322081 meters # Minimum depth: 3766.740112 meters looking forward 100.000000 meters along route # Maximum depth: 3774.292497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.740112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.025269; longitude = -108.838856; duration = 557; # abortOnTimeout = True; initialDepth = 3722.229087; finalDepth = 3716.740112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0428430000002 # Actual altitude: 51.0428430000002 # Commanded vehicle depth: 3716.740112 # Seafloor depth: -3766.740112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 65 # Segment length 175.172231 meters # Minimum depth: 3772.229087 meters looking forward 100.000000 meters along route # Maximum depth: 3774.537170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.229087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.024095; longitude = -108.839347; duration = 700; # abortOnTimeout = True; initialDepth = 3722.043602; finalDepth = 3722.229087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3080829999999 # Actual altitude: 52.3080829999999 # Commanded vehicle depth: 3722.229087 # Seafloor depth: -3774.537170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 107.279370 meters # Minimum depth: 3772.043602 meters looking forward 100.000000 meters along route # Maximum depth: 3772.986672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.043602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023522; longitude = -108.837743; duration = 429; initialDepth = 3722.705167; finalDepth = 3722.043602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3080829999999 # Actual altitude: 52.3080829999999 # Commanded vehicle depth: 3722.043602 # Seafloor depth: -3772.115430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.279680 meters # Minimum depth: 3772.705167 meters looking forward 100.000000 meters along route # Maximum depth: 3773.293167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.705167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.023171; longitude = -108.836760; duration = 429; initialDepth = 3721.726512; finalDepth = 3722.705167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4080309999999 # Actual altitude: 50.4080309999999 # Commanded vehicle depth: 3722.705167 # Seafloor depth: -3773.113198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.279992 meters # Minimum depth: 3771.726512 meters looking forward 100.000000 meters along route # Maximum depth: 3772.644879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.726512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022820; longitude = -108.835777; duration = 429; initialDepth = 3721.653509; finalDepth = 3721.726512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9183669999998 # Actual altitude: 50.9183669999998 # Commanded vehicle depth: 3721.726512 # Seafloor depth: -3772.644879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 100.995047 meters # Minimum depth: 3771.653509 meters looking forward 100.000000 meters along route # Maximum depth: 3772.802910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.653509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022469; longitude = -108.834795; duration = 403; initialDepth = 3711.090093; finalDepth = 3721.653509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9183669999998 # Actual altitude: 50.9183669999998 # Commanded vehicle depth: 3721.653509 # Seafloor depth: -3771.706245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 102.837794 meters # Minimum depth: 3761.090093 meters looking forward 100.000000 meters along route # Maximum depth: 3772.070933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.090093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022139; longitude = -108.833870; duration = 411; initialDepth = 3709.034643; finalDepth = 3711.090093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9808400000002 # Actual altitude: 60.9808400000002 # Commanded vehicle depth: 3711.090093 # Seafloor depth: -3772.070933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.280893 meters # Minimum depth: 3759.034643 meters looking forward 100.000000 meters along route # Maximum depth: 3760.068860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.034643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021802; longitude = -108.832928; duration = 429; initialDepth = 3709.789691; finalDepth = 3709.034643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9808400000002 # Actual altitude: 60.9808400000002 # Commanded vehicle depth: 3709.034643 # Seafloor depth: -3760.068860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.281205 meters # Minimum depth: 3759.789691 meters looking forward 100.000000 meters along route # Maximum depth: 3761.903771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.789691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021451; longitude = -108.831945; duration = 429; initialDepth = 3709.575108; finalDepth = 3709.789691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0342169999999 # Actual altitude: 51.0342169999999 # Commanded vehicle depth: 3709.789691 # Seafloor depth: -3759.789691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.281516 meters # Minimum depth: 3759.575108 meters looking forward 100.000000 meters along route # Maximum depth: 3763.070643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.575108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021100; longitude = -108.830962; duration = 429; initialDepth = 3695.425960; finalDepth = 3709.575108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9429620000001 # Actual altitude: 52.9429620000001 # Commanded vehicle depth: 3709.575108 # Seafloor depth: -3762.518070 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.281827 meters # Minimum depth: 3745.425960 meters looking forward 100.000000 meters along route # Maximum depth: 3758.331044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.425960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020749; longitude = -108.829980; duration = 429; initialDepth = 3672.913844; finalDepth = 3695.425960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.905084 # Actual altitude: 62.905084 # Commanded vehicle depth: 3695.42596 # Seafloor depth: -3758.331044 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 102.783584 meters # Minimum depth: 3722.913844 meters looking forward 100.000000 meters along route # Maximum depth: 3744.602930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3672.913844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020398; longitude = -108.828997; duration = 411; initialDepth = 3666.211191; finalDepth = 3672.913844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6890859999999 # Actual altitude: 71.6890859999999 # Commanded vehicle depth: 3672.913844 # Seafloor depth: -3744.602930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 101.052745 meters # Minimum depth: 3716.211191 meters looking forward 100.000000 meters along route # Maximum depth: 3721.293874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3666.211191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020062; longitude = -108.828056; duration = 404; initialDepth = 3627.572740; finalDepth = 3666.211191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6890859999999 # Actual altitude: 71.6890859999999 # Commanded vehicle depth: 3666.211191 # Seafloor depth: -3721.293874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.282729 meters # Minimum depth: 3677.572740 meters looking forward 100.000000 meters along route # Maximum depth: 3713.885419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3627.572740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019731; longitude = -108.827130; duration = 429; initialDepth = 3623.869521; finalDepth = 3627.572740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.3126790000001 # Actual altitude: 86.3126790000001 # Commanded vehicle depth: 3627.57274 # Seafloor depth: -3713.885419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.283041 meters # Minimum depth: 3673.869521 meters looking forward 100.000000 meters along route # Maximum depth: 3676.437888 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.869521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019380; longitude = -108.826148; duration = 429; initialDepth = 3614.999957; finalDepth = 3623.869521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.3126790000001 # Actual altitude: 86.3126790000001 # Commanded vehicle depth: 3623.869521 # Seafloor depth: -3676.437888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.283353 meters # Minimum depth: 3664.999957 meters looking forward 100.000000 meters along route # Maximum depth: 3673.178124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3614.999957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019029; longitude = -108.825165; duration = 429; initialDepth = 3612.047445; finalDepth = 3614.999957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.178167 # Actual altitude: 58.178167 # Commanded vehicle depth: 3614.999957 # Seafloor depth: -3673.178124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 101.462417 meters # Minimum depth: 3662.047445 meters looking forward 100.000000 meters along route # Maximum depth: 3664.587901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3612.047445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018678; longitude = -108.824182; duration = 405; initialDepth = 3608.926054; finalDepth = 3612.047445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.178167 # Actual altitude: 58.178167 # Commanded vehicle depth: 3612.047445 # Seafloor depth: -3664.587901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 102.376809 meters # Minimum depth: 3658.926054 meters looking forward 100.000000 meters along route # Maximum depth: 3661.971334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3608.926054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018347; longitude = -108.823253; duration = 409; initialDepth = 3595.744571; finalDepth = 3608.926054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0452799999998 # Actual altitude: 53.0452799999998 # Commanded vehicle depth: 3608.926054 # Seafloor depth: -3661.971334 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.284255 meters # Minimum depth: 3645.744571 meters looking forward 100.000000 meters along route # Maximum depth: 3658.199047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3595.744571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018012; longitude = -108.822315; duration = 429; initialDepth = 3571.952205; finalDepth = 3595.744571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4544759999999 # Actual altitude: 62.4544759999999 # Commanded vehicle depth: 3595.744571 # Seafloor depth: -3658.199047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.284567 meters # Minimum depth: 3621.952205 meters looking forward 100.000000 meters along route # Maximum depth: 3643.587107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3571.952205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017661; longitude = -108.821333; duration = 429; initialDepth = 3567.991052; finalDepth = 3571.952205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6349019999998 # Actual altitude: 71.6349019999998 # Commanded vehicle depth: 3571.952205 # Seafloor depth: -3643.587107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.284878 meters # Minimum depth: 3617.991052 meters looking forward 100.000000 meters along route # Maximum depth: 3621.717171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3567.991052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017310; longitude = -108.820350; duration = 429; initialDepth = 3572.805033; finalDepth = 3567.991052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6349019999998 # Actual altitude: 71.6349019999998 # Commanded vehicle depth: 3567.991052 # Seafloor depth: -3620.286853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.285189 meters # Minimum depth: 3622.805033 meters looking forward 100.000000 meters along route # Maximum depth: 3631.559200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3572.805033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016959; longitude = -108.819367; duration = 429; initialDepth = 3582.132756; finalDepth = 3572.805033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2958010000002 # Actual altitude: 52.2958010000002 # Commanded vehicle depth: 3572.805033 # Seafloor depth: -3622.805033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.285501 meters # Minimum depth: 3632.132756 meters looking forward 100.000000 meters along route # Maximum depth: 3643.040050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3582.132756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016608; longitude = -108.818385; duration = 429; initialDepth = 3590.648576; finalDepth = 3582.132756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3582.132756 # Seafloor depth: -3632.132756 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 107.285812 meters # Minimum depth: 3640.648576 meters looking forward 100.000000 meters along route # Maximum depth: 3643.887206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.648576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016257; longitude = -108.817402; duration = 429; initialDepth = 3587.492299; finalDepth = 3590.648576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6378930000001 # Actual altitude: 52.6378930000001 # Commanded vehicle depth: 3590.648576 # Seafloor depth: -3643.286469 # 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 65 # Segment length 100.180151 meters # Minimum depth: 3637.492299 meters looking forward 100.000000 meters along route # Maximum depth: 3640.609168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.492299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015906; longitude = -108.816420; duration = 400; initialDepth = 3587.129700; finalDepth = 3587.492299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.116869 # Actual altitude: 53.116869 # Commanded vehicle depth: 3587.492299 # Seafloor depth: -3640.609168 # 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 64 # Segment length 140.696265 meters # Minimum depth: 3637.129700 meters looking forward 100.000000 meters along route # Maximum depth: 3644.348460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.129700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015578; longitude = -108.815502; duration = 562; # abortOnTimeout = True; initialDepth = 3594.743164; finalDepth = 3587.129700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.116869 # Actual altitude: 53.116869 # Commanded vehicle depth: 3587.1297 # Seafloor depth: -3637.129700 # 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 63 # Segment length 151.238238 meters # Minimum depth: 3644.743164 meters looking forward 100.000000 meters along route # Maximum depth: 3649.013765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.743164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014344; longitude = -108.815175; duration = 604; # abortOnTimeout = True; initialDepth = 3597.060398; finalDepth = 3594.743164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.743164 # Seafloor depth: -3644.743164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 101.638236 meters # Minimum depth: 3647.060398 meters looking forward 100.000000 meters along route # Maximum depth: 3649.190743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.060398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014825; longitude = -108.816566; duration = 406; initialDepth = 3597.486760; finalDepth = 3597.060398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3519390000001 # Actual altitude: 51.3519390000001 # Commanded vehicle depth: 3597.060398 # Seafloor depth: -3648.412337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.854044 meters # Minimum depth: 3647.486760 meters looking forward 100.000000 meters along route # Maximum depth: 3650.923335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3597.486760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015149; longitude = -108.817500; duration = 427; initialDepth = 3587.088799; finalDepth = 3597.486760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3528710000001 # Actual altitude: 52.3528710000001 # Commanded vehicle depth: 3597.48676 # Seafloor depth: -3649.839631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.853740 meters # Minimum depth: 3637.088799 meters looking forward 100.000000 meters along route # Maximum depth: 3646.483886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.088799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015489; longitude = -108.818483; duration = 427; initialDepth = 3575.857433; finalDepth = 3587.088799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3950869999999 # Actual altitude: 59.3950869999999 # Commanded vehicle depth: 3587.088799 # Seafloor depth: -3646.483886 # 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 63 # Segment length 110.203201 meters # Minimum depth: 3625.857433 meters looking forward 100.000000 meters along route # Maximum depth: 3636.742726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.857433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015829; longitude = -108.819466; duration = 440; initialDepth = 3575.519888; finalDepth = 3575.857433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8852929999998 # Actual altitude: 60.8852929999998 # Commanded vehicle depth: 3575.857433 # Seafloor depth: -3636.742726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 103.503366 meters # Minimum depth: 3625.519888 meters looking forward 100.000000 meters along route # Maximum depth: 3637.897667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.519888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016180; longitude = -108.820479; duration = 414; initialDepth = 3590.427648; finalDepth = 3575.519888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8852929999998 # Actual altitude: 60.8852929999998 # Commanded vehicle depth: 3575.519888 # Seafloor depth: -3625.741740 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.852827 meters # Minimum depth: 3640.427648 meters looking forward 100.000000 meters along route # Maximum depth: 3658.974571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3590.427648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016509; longitude = -108.821431; duration = 427; initialDepth = 3610.677459; finalDepth = 3590.427648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2218520000001 # Actual altitude: 50.2218520000001 # Commanded vehicle depth: 3590.427648 # Seafloor depth: -3640.427648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.710167 meters # Minimum depth: 3660.677459 meters looking forward 100.000000 meters along route # Maximum depth: 3675.052494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3610.677459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016849; longitude = -108.822414; duration = 406; initialDepth = 3625.899453; finalDepth = 3610.677459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3610.677459 # Seafloor depth: -3660.677459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.309366 meters # Minimum depth: 3675.899453 meters looking forward 100.000000 meters along route # Maximum depth: 3694.129199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.899453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017173; longitude = -108.823349; duration = 405; initialDepth = 3646.365724; finalDepth = 3625.899453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3625.899453 # Seafloor depth: -3675.899453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.851945 meters # Minimum depth: 3696.365724 meters looking forward 100.000000 meters along route # Maximum depth: 3704.725637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.365724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017495; longitude = -108.824281; duration = 427; initialDepth = 3650.169279; finalDepth = 3646.365724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3646.365724 # Seafloor depth: -3696.365724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.851640 meters # Minimum depth: 3700.169279 meters looking forward 100.000000 meters along route # Maximum depth: 3726.181613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.169279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017835; longitude = -108.825263; duration = 427; initialDepth = 3677.423971; finalDepth = 3650.169279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6362609999996 # Actual altitude: 50.6362609999996 # Commanded vehicle depth: 3650.169279 # Seafloor depth: -3700.805540 # 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 63 # Segment length 110.527905 meters # Minimum depth: 3727.423971 meters looking forward 100.000000 meters along route # Maximum depth: 3744.693895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.423971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018175; longitude = -108.826246; duration = 442; initialDepth = 3695.081028; finalDepth = 3677.423971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6362609999996 # Actual altitude: 50.6362609999996 # Commanded vehicle depth: 3677.423971 # Seafloor depth: -3727.423971 # 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 63 # Segment length 103.174464 meters # Minimum depth: 3745.081028 meters looking forward 100.000000 meters along route # Maximum depth: 3747.812921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.081028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018527; longitude = -108.827262; duration = 412; initialDepth = 3696.107860; finalDepth = 3695.081028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3695.081028 # Seafloor depth: -3745.081028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.850728 meters # Minimum depth: 3746.107860 meters looking forward 100.000000 meters along route # Maximum depth: 3749.252366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.107860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018855; longitude = -108.828211; duration = 427; initialDepth = 3699.313444; finalDepth = 3696.107860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1003329999999 # Actual altitude: 50.1003329999999 # Commanded vehicle depth: 3696.10786 # Seafloor depth: -3746.208193 # 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 63 # Segment length 106.850424 meters # Minimum depth: 3749.313444 meters looking forward 100.000000 meters along route # Maximum depth: 3755.838344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3699.313444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019196; longitude = -108.829194; duration = 427; initialDepth = 3706.658474; finalDepth = 3699.313444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1003329999999 # Actual altitude: 50.1003329999999 # Commanded vehicle depth: 3699.313444 # Seafloor depth: -3749.313444 # 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 63 # Segment length 108.660415 meters # Minimum depth: 3756.658474 meters looking forward 100.000000 meters along route # Maximum depth: 3765.319542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.658474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019536; longitude = -108.830176; duration = 434; initialDepth = 3714.649676; finalDepth = 3706.658474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3706.658474 # Seafloor depth: -3756.658474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 105.039520 meters # Minimum depth: 3764.649676 meters looking forward 100.000000 meters along route # Maximum depth: 3764.862489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3714.649676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019881; longitude = -108.831176; duration = 420; initialDepth = 3713.845714; finalDepth = 3714.649676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0868420000002 # Actual altitude: 50.0868420000002 # Commanded vehicle depth: 3714.649676 # Seafloor depth: -3764.736518 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.849512 meters # Minimum depth: 3763.845714 meters looking forward 100.000000 meters along route # Maximum depth: 3767.088335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3713.845714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020216; longitude = -108.832142; duration = 427; initialDepth = 3717.885364; finalDepth = 3713.845714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5716849999999 # Actual altitude: 50.5716849999999 # Commanded vehicle depth: 3713.845714 # Seafloor depth: -3764.417399 # 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 63 # Segment length 100.167659 meters # Minimum depth: 3767.885364 meters looking forward 100.000000 meters along route # Maximum depth: 3772.552534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.885364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020556; longitude = -108.833124; duration = 400; initialDepth = 3722.767966; finalDepth = 3717.885364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5716849999999 # Actual altitude: 50.5716849999999 # Commanded vehicle depth: 3717.885364 # Seafloor depth: -3767.885364 # 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 63 # Segment length 102.845576 meters # Minimum depth: 3772.767966 meters looking forward 100.000000 meters along route # Maximum depth: 3775.526082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.767966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020875; longitude = -108.834045; duration = 411; initialDepth = 3725.756639; finalDepth = 3722.767966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3722.767966 # Seafloor depth: -3772.767966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.848630 meters # Minimum depth: 3775.756639 meters looking forward 100.000000 meters along route # Maximum depth: 3776.837129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.756639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021202; longitude = -108.834991; duration = 427; initialDepth = 3723.937965; finalDepth = 3725.756639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3725.756639 # Seafloor depth: -3775.756639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 106.848326 meters # Minimum depth: 3773.937965 meters looking forward 100.000000 meters along route # Maximum depth: 3776.594307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.937965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021542; longitude = -108.835974; duration = 427; initialDepth = 3723.963260; finalDepth = 3723.937965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6563419999998 # Actual altitude: 52.6563419999998 # Commanded vehicle depth: 3723.937965 # Seafloor depth: -3776.594307 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 108.985141 meters # Minimum depth: 3773.963260 meters looking forward 100.000000 meters along route # Maximum depth: 3774.926901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.963260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021882; longitude = -108.836956; duration = 435; initialDepth = 3724.542162; finalDepth = 3723.963260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6563419999998 # Actual altitude: 52.6563419999998 # Commanded vehicle depth: 3723.96326 # Seafloor depth: -3773.963260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 104.710600 meters # Minimum depth: 3774.542162 meters looking forward 100.000000 meters along route # Maximum depth: 3774.912843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.542162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022229; longitude = -108.837959; duration = 418; initialDepth = 3725.079029; finalDepth = 3724.542162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3706809999999 # Actual altitude: 50.3706809999999 # Commanded vehicle depth: 3724.542162 # Seafloor depth: -3774.912843 # 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 63 # Segment length 103.337457 meters # Minimum depth: 3775.079029 meters looking forward 100.000000 meters along route # Maximum depth: 3777.958930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.079029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022562; longitude = -108.838922; duration = 413; initialDepth = 3727.475053; finalDepth = 3725.079029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.3706809999999 # Actual altitude: 50.3706809999999 # Commanded vehicle depth: 3725.079029 # Seafloor depth: -3775.079029 # 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; } # ####################################################### # # 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 62 # Segment length 148.672409 meters # Minimum depth: 3777.475053 meters looking forward 100.000000 meters along route # Maximum depth: 3778.762664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.475053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.022891; longitude = -108.839872; duration = 594; # abortOnTimeout = True; initialDepth = 3728.845459; finalDepth = 3727.475053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.5804889999999 # Actual altitude: 50.5804889999999 # Commanded vehicle depth: 3727.475053 # Seafloor depth: -3778.055542 # 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; } # ####################################################### # # 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 61 # Segment length 113.648829 meters # Minimum depth: 3778.845459 meters looking forward 100.000000 meters along route # Maximum depth: 3780.152528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.845459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021627; longitude = -108.840363; duration = 454; # abortOnTimeout = True; initialDepth = 3728.463921; finalDepth = 3728.845459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5804889999999 # Actual altitude: 50.5804889999999 # Commanded vehicle depth: 3728.845459 # Seafloor depth: -3778.845459 # 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 61 # Segment length 106.529599 meters # Minimum depth: 3778.463921 meters looking forward 100.000000 meters along route # Maximum depth: 3780.201561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.463921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.021273; longitude = -108.839315; duration = 426; initialDepth = 3727.989851; finalDepth = 3728.463921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7360990000002 # Actual altitude: 51.7360990000002 # Commanded vehicle depth: 3728.463921 # Seafloor depth: -3780.200020 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 108.368211 meters # Minimum depth: 3777.989851 meters looking forward 100.000000 meters along route # Maximum depth: 3778.777313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.989851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020941; longitude = -108.838332; duration = 433; initialDepth = 3727.771634; finalDepth = 3727.989851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7360990000002 # Actual altitude: 51.7360990000002 # Commanded vehicle depth: 3727.989851 # Seafloor depth: -3778.312117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 104.691882 meters # Minimum depth: 3777.771634 meters looking forward 100.000000 meters along route # Maximum depth: 3778.870049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.771634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020604; longitude = -108.837332; duration = 418; initialDepth = 3726.387132; finalDepth = 3727.771634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.02061 # Actual altitude: 51.02061 # Commanded vehicle depth: 3727.771634 # Seafloor depth: -3778.792244 # 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 61 # Segment length 106.530494 meters # Minimum depth: 3776.387132 meters looking forward 100.000000 meters along route # Maximum depth: 3777.456659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.387132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020278; longitude = -108.836367; duration = 426; initialDepth = 3725.546982; finalDepth = 3726.387132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0695270000001 # Actual altitude: 51.0695270000001 # Commanded vehicle depth: 3726.387132 # Seafloor depth: -3777.456659 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 107.643987 meters # Minimum depth: 3775.546982 meters looking forward 100.000000 meters along route # Maximum depth: 3777.193831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.546982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019946; longitude = -108.835384; duration = 430; initialDepth = 3719.793601; finalDepth = 3725.546982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3444050000003 # Actual altitude: 51.3444050000003 # Commanded vehicle depth: 3725.546982 # Seafloor depth: -3776.891387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 105.417897 meters # Minimum depth: 3769.793601 meters looking forward 100.000000 meters along route # Maximum depth: 3775.495036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.793601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019611; longitude = -108.834391; duration = 421; initialDepth = 3719.419756; finalDepth = 3719.793601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7014349999999 # Actual altitude: 55.7014349999999 # Commanded vehicle depth: 3719.793601 # Seafloor depth: -3775.495036 # 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 61 # Segment length 106.531390 meters # Minimum depth: 3769.419756 meters looking forward 100.000000 meters along route # Maximum depth: 3772.275530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.419756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019282; longitude = -108.833419; duration = 426; initialDepth = 3718.744258; finalDepth = 3719.419756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7014349999999 # Actual altitude: 55.7014349999999 # Commanded vehicle depth: 3719.419756 # Seafloor depth: -3769.493026 # 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 61 # Segment length 106.919751 meters # Minimum depth: 3768.744258 meters looking forward 100.000000 meters along route # Maximum depth: 3771.817045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3718.744258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018950; longitude = -108.832436; duration = 427; initialDepth = 3719.322675; finalDepth = 3718.744258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0727869999996 # Actual altitude: 53.0727869999996 # Commanded vehicle depth: 3718.744258 # Seafloor depth: -3771.817045 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.143925 meters # Minimum depth: 3769.322675 meters looking forward 100.000000 meters along route # Maximum depth: 3772.489500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.322675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018617; longitude = -108.831450; duration = 424; initialDepth = 3712.840284; finalDepth = 3719.322675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0727869999996 # Actual altitude: 53.0727869999996 # Commanded vehicle depth: 3719.322675 # Seafloor depth: -3769.322675 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.532286 meters # Minimum depth: 3762.840284 meters looking forward 100.000000 meters along route # Maximum depth: 3772.165340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.840284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018287; longitude = -108.830471; duration = 426; initialDepth = 3710.588352; finalDepth = 3712.840284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3250560000001 # Actual altitude: 59.3250560000001 # Commanded vehicle depth: 3712.840284 # Seafloor depth: -3772.165340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.532585 meters # Minimum depth: 3760.588352 meters looking forward 100.000000 meters along route # Maximum depth: 3763.249960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3710.588352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017955; longitude = -108.829488; duration = 426; initialDepth = 3700.337818; finalDepth = 3710.588352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3250560000001 # Actual altitude: 59.3250560000001 # Commanded vehicle depth: 3710.588352 # Seafloor depth: -3762.463566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.532883 meters # Minimum depth: 3750.337818 meters looking forward 100.000000 meters along route # Maximum depth: 3760.558818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.337818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017623; longitude = -108.828506; duration = 426; initialDepth = 3700.024801; finalDepth = 3700.337818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.221 # Actual altitude: 60.221 # Commanded vehicle depth: 3700.337818 # Seafloor depth: -3760.558818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.533182 meters # Minimum depth: 3750.024801 meters looking forward 100.000000 meters along route # Maximum depth: 3755.278768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3700.024801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017291; longitude = -108.827523; duration = 426; initialDepth = 3687.800833; finalDepth = 3700.024801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.221 # Actual altitude: 60.221 # Commanded vehicle depth: 3700.024801 # Seafloor depth: -3750.103418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.533481 meters # Minimum depth: 3737.800833 meters looking forward 100.000000 meters along route # Maximum depth: 3754.626397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3687.800833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016960; longitude = -108.826541; duration = 426; initialDepth = 3682.401025; finalDepth = 3687.800833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8255640000002 # Actual altitude: 66.8255640000002 # Commanded vehicle depth: 3687.800833 # Seafloor depth: -3754.626397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.533780 meters # Minimum depth: 3732.401025 meters looking forward 100.000000 meters along route # Maximum depth: 3737.625575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3682.401025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016628; longitude = -108.825558; duration = 426; initialDepth = 3665.113613; finalDepth = 3682.401025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.8255640000002 # Actual altitude: 66.8255640000002 # Commanded vehicle depth: 3682.401025 # Seafloor depth: -3737.625575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.534079 meters # Minimum depth: 3715.113613 meters looking forward 100.000000 meters along route # Maximum depth: 3735.803478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.113613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016296; longitude = -108.824575; duration = 426; initialDepth = 3638.285058; finalDepth = 3665.113613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.568741 # Actual altitude: 70.568741 # Commanded vehicle depth: 3665.113613 # Seafloor depth: -3735.682354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.534377 meters # Minimum depth: 3688.285058 meters looking forward 100.000000 meters along route # Maximum depth: 3711.765500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.285058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015964; longitude = -108.823593; duration = 426; initialDepth = 3626.798328; finalDepth = 3638.285058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.480442 # Actual altitude: 73.480442 # Commanded vehicle depth: 3638.285058 # Seafloor depth: -3711.765500 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.534676 meters # Minimum depth: 3676.798328 meters looking forward 100.000000 meters along route # Maximum depth: 3688.038602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.798328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015632; longitude = -108.822610; duration = 426; initialDepth = 3603.989240; finalDepth = 3626.798328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.480442 # Actual altitude: 73.480442 # Commanded vehicle depth: 3626.798328 # Seafloor depth: -3688.038602 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.534975 meters # Minimum depth: 3653.989240 meters looking forward 100.000000 meters along route # Maximum depth: 3675.027179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.989240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015301; longitude = -108.821627; duration = 426; initialDepth = 3598.699056; finalDepth = 3603.989240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.0379390000003 # Actual altitude: 71.0379390000003 # Commanded vehicle depth: 3603.98924 # Seafloor depth: -3675.027179 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.535274 meters # Minimum depth: 3648.699056 meters looking forward 100.000000 meters along route # Maximum depth: 3652.025660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.699056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014969; longitude = -108.820645; duration = 426; initialDepth = 3598.942838; finalDepth = 3598.699056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.0379390000003 # Actual altitude: 71.0379390000003 # Commanded vehicle depth: 3598.699056 # Seafloor depth: -3652.025660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.535573 meters # Minimum depth: 3648.942838 meters looking forward 100.000000 meters along route # Maximum depth: 3654.760762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.942838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014637; longitude = -108.819662; duration = 426; initialDepth = 3606.180591; finalDepth = 3598.942838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3266039999999 # Actual altitude: 53.3266039999999 # Commanded vehicle depth: 3598.942838 # Seafloor depth: -3649.194596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.535872 meters # Minimum depth: 3656.180591 meters looking forward 100.000000 meters along route # Maximum depth: 3666.292358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.180591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014305; longitude = -108.818680; duration = 426; initialDepth = 3609.289172; finalDepth = 3606.180591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2517579999999 # Actual altitude: 50.2517579999999 # Commanded vehicle depth: 3606.180591 # Seafloor depth: -3656.180591 # 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 61 # Segment length 106.536171 meters # Minimum depth: 3659.289172 meters looking forward 100.000000 meters along route # Maximum depth: 3666.472689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3609.289172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013973; longitude = -108.817697; duration = 426; initialDepth = 3604.250581; finalDepth = 3609.289172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1835170000004 # Actual altitude: 57.1835170000004 # Commanded vehicle depth: 3609.289172 # Seafloor depth: -3666.472689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 106.536470 meters # Minimum depth: 3654.250581 meters looking forward 100.000000 meters along route # Maximum depth: 3658.907712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3604.250581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013641; longitude = -108.816714; duration = 426; initialDepth = 3599.306201; finalDepth = 3604.250581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1835170000004 # Actual altitude: 57.1835170000004 # Commanded vehicle depth: 3604.250581 # Seafloor depth: -3658.907712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.967511 meters # Minimum depth: 3649.306201 meters looking forward 100.000000 meters along route # Maximum depth: 3654.393166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.306201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013310; longitude = -108.815732; duration = 411; initialDepth = 3592.441402; finalDepth = 3599.306201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.086965 # Actual altitude: 55.086965 # Commanded vehicle depth: 3599.306201 # Seafloor depth: -3654.393166 # 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; } # ####################################################### # # 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 60 # Segment length 158.101604 meters # Minimum depth: 3642.441402 meters looking forward 100.000000 meters along route # Maximum depth: 3648.745117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3592.441402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012989; longitude = -108.814782; duration = 632; # abortOnTimeout = True; initialDepth = 3594.358737; finalDepth = 3592.441402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.303715 # Actual altitude: 56.303715 # Commanded vehicle depth: 3592.441402 # Seafloor depth: -3648.745117 # 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; } # ####################################################### # # 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 59 # Segment length 96.642628 meters # Minimum depth: 3644.358737 meters looking forward 100.000000 meters along route # Maximum depth: 3650.820162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.358737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011635; longitude = -108.814291; duration = 386; # abortOnTimeout = True; initialDepth = 3601.256567; finalDepth = 3594.358737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.303715 # Actual altitude: 56.303715 # Commanded vehicle depth: 3594.358737 # Seafloor depth: -3644.462158 # 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 59 # Segment length 102.187927 meters # Minimum depth: 3651.256567 meters looking forward 100.000000 meters along route # Maximum depth: 3660.495100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.256567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011936; longitude = -108.815182; duration = 408; initialDepth = 3611.628772; finalDepth = 3601.256567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1034209999998 # Actual altitude: 50.1034209999998 # Commanded vehicle depth: 3601.256567 # Seafloor depth: -3651.256567 # 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 59 # Segment length 106.543750 meters # Minimum depth: 3661.628772 meters looking forward 100.000000 meters along route # Maximum depth: 3672.561756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.628772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012255; longitude = -108.816125; duration = 426; initialDepth = 3623.129755; finalDepth = 3611.628772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.628772 # Seafloor depth: -3661.628772 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 110.010017 meters # Minimum depth: 3673.129755 meters looking forward 100.000000 meters along route # Maximum depth: 3684.908770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3623.129755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012587; longitude = -108.817107; duration = 440; initialDepth = 3625.664724; finalDepth = 3623.129755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3623.129755 # Seafloor depth: -3673.129755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.076586 meters # Minimum depth: 3675.664724 meters looking forward 100.000000 meters along route # Maximum depth: 3684.897713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.664724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012929; longitude = -108.818122; duration = 412; initialDepth = 3619.245052; finalDepth = 3625.664724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2329889999996 # Actual altitude: 59.2329889999996 # Commanded vehicle depth: 3625.664724 # Seafloor depth: -3684.897713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.542854 meters # Minimum depth: 3669.245052 meters looking forward 100.000000 meters along route # Maximum depth: 3681.058640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.245052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013250; longitude = -108.819073; duration = 426; initialDepth = 3633.315844; finalDepth = 3619.245052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2329889999996 # Actual altitude: 59.2329889999996 # Commanded vehicle depth: 3619.245052 # Seafloor depth: -3673.997128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 109.119578 meters # Minimum depth: 3683.315844 meters looking forward 100.000000 meters along route # Maximum depth: 3721.168154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3633.315844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013582; longitude = -108.820055; duration = 436; initialDepth = 3662.554346; finalDepth = 3633.315844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7520759999998 # Actual altitude: 54.7520759999998 # Commanded vehicle depth: 3633.315844 # Seafloor depth: -3683.315844 # 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 59 # Segment length 103.965231 meters # Minimum depth: 3721.397588 meters looking forward 100.000000 meters along route # Maximum depth: 3723.758675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.554346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013922; longitude = -108.821062; duration = 415; initialDepth = 3674.269810; finalDepth = 3662.554346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8432417187705 # Actual altitude: 58.8432417187705 # Commanded vehicle depth: 3662.55434628123 # Seafloor depth: -3721.397588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.541956 meters # Minimum depth: 3724.269810 meters looking forward 100.000000 meters along route # Maximum depth: 3728.656978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3674.269810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014246; longitude = -108.822021; duration = 426; initialDepth = 3679.716949; finalDepth = 3674.269810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8432417187705 # Actual altitude: 58.8432417187705 # Commanded vehicle depth: 3674.26981 # Seafloor depth: -3724.269810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 108.229155 meters # Minimum depth: 3729.716949 meters looking forward 100.000000 meters along route # Maximum depth: 3750.846546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.716949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014578; longitude = -108.823003; duration = 432; initialDepth = 3701.120134; finalDepth = 3679.716949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3679.716949 # Seafloor depth: -3729.716949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 104.853860 meters # Minimum depth: 3751.120134 meters looking forward 100.000000 meters along route # Maximum depth: 3756.997659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3701.120134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014916; longitude = -108.824001; duration = 419; initialDepth = 3705.629053; finalDepth = 3701.120134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3701.120134 # Seafloor depth: -3751.120134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.541059 meters # Minimum depth: 3755.629053 meters looking forward 100.000000 meters along route # Maximum depth: 3767.680213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.629053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015242; longitude = -108.824968; duration = 426; initialDepth = 3715.919110; finalDepth = 3705.629053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1614549999999 # Actual altitude: 50.1614549999999 # Commanded vehicle depth: 3705.629053 # Seafloor depth: -3755.790508 # 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 59 # Segment length 107.338747 meters # Minimum depth: 3765.919110 meters looking forward 100.000000 meters along route # Maximum depth: 3772.642500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.919110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015574; longitude = -108.825951; duration = 429; initialDepth = 3710.857434; finalDepth = 3715.919110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.270493 # Actual altitude: 53.270493 # Commanded vehicle depth: 3715.91911 # Seafloor depth: -3769.189603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 105.742475 meters # Minimum depth: 3760.857434 meters looking forward 100.000000 meters along route # Maximum depth: 3765.783665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3710.857434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015909; longitude = -108.826941; duration = 422; initialDepth = 3712.678244; finalDepth = 3710.857434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9262309999999 # Actual altitude: 54.9262309999999 # Commanded vehicle depth: 3710.857434 # Seafloor depth: -3765.783665 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.540163 meters # Minimum depth: 3762.678244 meters looking forward 100.000000 meters along route # Maximum depth: 3767.511496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3712.678244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016238; longitude = -108.827916; duration = 426; initialDepth = 3717.622337; finalDepth = 3712.678244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9262309999999 # Actual altitude: 54.9262309999999 # Commanded vehicle depth: 3712.678244 # Seafloor depth: -3762.678244 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.539864 meters # Minimum depth: 3767.622337 meters looking forward 100.000000 meters along route # Maximum depth: 3769.531258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.622337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016570; longitude = -108.828899; duration = 426; initialDepth = 3719.535824; finalDepth = 3717.622337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3717.622337 # Seafloor depth: -3767.622337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.539565 meters # Minimum depth: 3769.535824 meters looking forward 100.000000 meters along route # Maximum depth: 3774.997239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.535824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016902; longitude = -108.829882; duration = 426; initialDepth = 3725.374038; finalDepth = 3719.535824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3719.535824 # Seafloor depth: -3769.535824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.539266 meters # Minimum depth: 3775.374038 meters looking forward 100.000000 meters along route # Maximum depth: 3776.544472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.374038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017234; longitude = -108.830864; duration = 426; initialDepth = 3726.242672; finalDepth = 3725.374038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3725.374038 # Seafloor depth: -3775.374038 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.538968 meters # Minimum depth: 3776.242672 meters looking forward 100.000000 meters along route # Maximum depth: 3777.506073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.242672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017566; longitude = -108.831847; duration = 426; initialDepth = 3723.432051; finalDepth = 3726.242672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4693179999999 # Actual altitude: 50.4693179999999 # Commanded vehicle depth: 3726.242672 # Seafloor depth: -3776.711990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.538669 meters # Minimum depth: 3773.432051 meters looking forward 100.000000 meters along route # Maximum depth: 3776.197583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.432051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017898; longitude = -108.832829; duration = 426; initialDepth = 3724.457769; finalDepth = 3723.432051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7655320000003 # Actual altitude: 52.7655320000003 # Commanded vehicle depth: 3723.432051 # Seafloor depth: -3776.197583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.538370 meters # Minimum depth: 3774.457769 meters looking forward 100.000000 meters along route # Maximum depth: 3777.900767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.457769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018230; longitude = -108.833812; duration = 426; initialDepth = 3725.881938; finalDepth = 3724.457769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7655320000003 # Actual altitude: 52.7655320000003 # Commanded vehicle depth: 3724.457769 # Seafloor depth: -3774.457769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.538072 meters # Minimum depth: 3775.881938 meters looking forward 100.000000 meters along route # Maximum depth: 3777.636827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.881938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018562; longitude = -108.834795; duration = 426; initialDepth = 3726.501744; finalDepth = 3725.881938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7548889999998 # Actual altitude: 51.7548889999998 # Commanded vehicle depth: 3725.881938 # Seafloor depth: -3777.636827 # 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 59 # Segment length 106.537772 meters # Minimum depth: 3776.501744 meters looking forward 100.000000 meters along route # Maximum depth: 3780.157407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.501744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018894; longitude = -108.835777; duration = 426; initialDepth = 3729.480822; finalDepth = 3726.501744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7548889999998 # Actual altitude: 51.7548889999998 # Commanded vehicle depth: 3726.501744 # Seafloor depth: -3776.501744 # 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 59 # Segment length 106.537475 meters # Minimum depth: 3779.480822 meters looking forward 100.000000 meters along route # Maximum depth: 3780.097427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.480822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019226; longitude = -108.836760; duration = 426; initialDepth = 3729.460757; finalDepth = 3729.480822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6166050000002 # Actual altitude: 50.6166050000002 # Commanded vehicle depth: 3729.480822 # Seafloor depth: -3780.097427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.537175 meters # Minimum depth: 3779.460757 meters looking forward 100.000000 meters along route # Maximum depth: 3780.342219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.460757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019558; longitude = -108.837743; duration = 426; initialDepth = 3729.502006; finalDepth = 3729.460757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6934140000003 # Actual altitude: 50.6934140000003 # Commanded vehicle depth: 3729.460757 # Seafloor depth: -3780.154171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 106.536877 meters # Minimum depth: 3779.502006 meters looking forward 100.000000 meters along route # Maximum depth: 3780.411350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.502006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019890; longitude = -108.838725; duration = 426; initialDepth = 3730.451132; finalDepth = 3729.502006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6934140000003 # Actual altitude: 50.6934140000003 # Commanded vehicle depth: 3729.502006 # Seafloor depth: -3779.502006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 103.025991 meters # Minimum depth: 3780.451132 meters looking forward 100.000000 meters along route # Maximum depth: 3781.784094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.451132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020222; longitude = -108.839708; duration = 412; initialDepth = 3731.850403; finalDepth = 3730.451132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3730.451132 # Seafloor depth: -3780.451132 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 58 # Segment length 144.323672 meters # Minimum depth: 3781.850403 meters looking forward 100.000000 meters along route # Maximum depth: 3784.379156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.850403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.020543; longitude = -108.840658; duration = 577; # abortOnTimeout = True; initialDepth = 3731.441177; finalDepth = 3731.850403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3731.850403 # Seafloor depth: -3781.850403 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 57 # Segment length 109.718998 meters # Minimum depth: 3781.441177 meters looking forward 100.000000 meters along route # Maximum depth: 3784.435364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.441177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.019310; longitude = -108.841116; duration = 438; # abortOnTimeout = True; initialDepth = 3730.427346; finalDepth = 3731.441177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9941869999998 # Actual altitude: 52.9941869999998 # Commanded vehicle depth: 3731.441177 # Seafloor depth: -3784.435364 # 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 57 # Segment length 106.199177 meters # Minimum depth: 3780.427346 meters looking forward 100.000000 meters along route # Maximum depth: 3781.425410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.427346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018976; longitude = -108.840101; duration = 424; initialDepth = 3729.728312; finalDepth = 3730.427346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9941869999998 # Actual altitude: 52.9941869999998 # Commanded vehicle depth: 3730.427346 # Seafloor depth: -3781.425410 # 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 57 # Segment length 100.853449 meters # Minimum depth: 3779.728312 meters looking forward 100.000000 meters along route # Maximum depth: 3780.403627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.728312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018653; longitude = -108.839118; duration = 403; initialDepth = 3728.282125; finalDepth = 3729.728312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9980639999999 # Actual altitude: 50.9980639999999 # Commanded vehicle depth: 3729.728312 # Seafloor depth: -3780.403627 # 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 57 # Segment length 100.925794 meters # Minimum depth: 3778.282125 meters looking forward 100.000000 meters along route # Maximum depth: 3779.632949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.282125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018347; longitude = -108.838185; duration = 403; initialDepth = 3728.406247; finalDepth = 3728.282125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3508239999996 # Actual altitude: 51.3508239999996 # Commanded vehicle depth: 3728.282125 # Seafloor depth: -3779.632949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.863831 meters # Minimum depth: 3778.406247 meters looking forward 100.000000 meters along route # Maximum depth: 3780.969066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.406247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018040; longitude = -108.837251; duration = 427; initialDepth = 3729.137985; finalDepth = 3728.406247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3508239999996 # Actual altitude: 51.3508239999996 # Commanded vehicle depth: 3728.406247 # Seafloor depth: -3778.406247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 105.536513 meters # Minimum depth: 3779.137985 meters looking forward 100.000000 meters along route # Maximum depth: 3780.988939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.137985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017714; longitude = -108.836262; duration = 422; initialDepth = 3728.486784; finalDepth = 3729.137985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8328700000002 # Actual altitude: 51.8328700000002 # Commanded vehicle depth: 3729.137985 # Seafloor depth: -3780.970855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.200611 meters # Minimum depth: 3778.486784 meters looking forward 100.000000 meters along route # Maximum depth: 3779.073330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.486784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017393; longitude = -108.835286; duration = 424; initialDepth = 3729.125565; finalDepth = 3728.486784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8328700000002 # Actual altitude: 51.8328700000002 # Commanded vehicle depth: 3728.486784 # Seafloor depth: -3778.927130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.200904 meters # Minimum depth: 3779.125565 meters looking forward 100.000000 meters along route # Maximum depth: 3781.378375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.125565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017070; longitude = -108.834303; duration = 424; initialDepth = 3728.450294; finalDepth = 3729.125565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4403459999999 # Actual altitude: 50.4403459999999 # Commanded vehicle depth: 3729.125565 # Seafloor depth: -3779.125565 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.201197 meters # Minimum depth: 3778.450294 meters looking forward 100.000000 meters along route # Maximum depth: 3781.349928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.450294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016747; longitude = -108.833321; duration = 424; initialDepth = 3728.413620; finalDepth = 3728.450294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8996339999999 # Actual altitude: 52.8996339999999 # Commanded vehicle depth: 3728.450294 # Seafloor depth: -3781.349928 # 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 57 # Segment length 110.182101 meters # Minimum depth: 3778.413620 meters looking forward 100.000000 meters along route # Maximum depth: 3779.417516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.413620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016424; longitude = -108.832338; duration = 440; initialDepth = 3726.151784; finalDepth = 3728.413620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8996339999999 # Actual altitude: 52.8996339999999 # Commanded vehicle depth: 3728.41362 # Seafloor depth: -3778.413620 # 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 57 # Segment length 102.221171 meters # Minimum depth: 3776.151784 meters looking forward 100.000000 meters along route # Maximum depth: 3778.456440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.151784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016089; longitude = -108.831319; duration = 408; initialDepth = 3723.899289; finalDepth = 3726.151784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3046559999998 # Actual altitude: 52.3046559999998 # Commanded vehicle depth: 3726.151784 # Seafloor depth: -3778.456440 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.202075 meters # Minimum depth: 3773.899289 meters looking forward 100.000000 meters along route # Maximum depth: 3775.894724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.899289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015778; longitude = -108.830373; duration = 424; initialDepth = 3723.398630; finalDepth = 3723.899289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3046559999998 # Actual altitude: 52.3046559999998 # Commanded vehicle depth: 3723.899289 # Seafloor depth: -3775.894724 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.202369 meters # Minimum depth: 3773.398630 meters looking forward 100.000000 meters along route # Maximum depth: 3775.136936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.398630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015455; longitude = -108.829390; duration = 424; initialDepth = 3725.769979; finalDepth = 3723.398630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9954350000003 # Actual altitude: 51.9954350000003 # Commanded vehicle depth: 3723.39863 # Seafloor depth: -3773.882922 # 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 57 # Segment length 100.962763 meters # Minimum depth: 3775.769979 meters looking forward 100.000000 meters along route # Maximum depth: 3778.127637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.769979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015132; longitude = -108.828408; duration = 403; initialDepth = 3724.022979; finalDepth = 3725.769979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4842919999996 # Actual altitude: 50.4842919999996 # Commanded vehicle depth: 3725.769979 # Seafloor depth: -3775.769979 # 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 57 # Segment length 100.822543 meters # Minimum depth: 3774.022979 meters looking forward 100.000000 meters along route # Maximum depth: 3776.599749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.022979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014825; longitude = -108.827473; duration = 403; initialDepth = 3722.039143; finalDepth = 3724.022979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5767700000001 # Actual altitude: 52.5767700000001 # Commanded vehicle depth: 3724.022979 # Seafloor depth: -3776.599749 # 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 57 # Segment length 106.973328 meters # Minimum depth: 3772.039143 meters looking forward 100.000000 meters along route # Maximum depth: 3774.056139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.039143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014519; longitude = -108.826541; duration = 427; initialDepth = 3719.631336; finalDepth = 3722.039143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5767700000001 # Actual altitude: 52.5767700000001 # Commanded vehicle depth: 3722.039143 # Seafloor depth: -3773.997636 # 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 57 # Segment length 105.433401 meters # Minimum depth: 3769.631336 meters looking forward 100.000000 meters along route # Maximum depth: 3772.002361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.631336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014193; longitude = -108.825551; duration = 421; initialDepth = 3719.082493; finalDepth = 3719.631336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3710249999999 # Actual altitude: 52.3710249999999 # Commanded vehicle depth: 3719.631336 # Seafloor depth: -3772.002361 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.203803 meters # Minimum depth: 3769.082493 meters looking forward 100.000000 meters along route # Maximum depth: 3769.433821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.082493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013873; longitude = -108.824575; duration = 424; initialDepth = 3714.678256; finalDepth = 3719.082493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3710249999999 # Actual altitude: 52.3710249999999 # Commanded vehicle depth: 3719.082493 # Seafloor depth: -3769.433821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.204097 meters # Minimum depth: 3764.678256 meters looking forward 100.000000 meters along route # Maximum depth: 3769.234314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3714.678256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013550; longitude = -108.823593; duration = 424; initialDepth = 3711.182906; finalDepth = 3714.678256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5560579999997 # Actual altitude: 54.5560579999997 # Commanded vehicle depth: 3714.678256 # Seafloor depth: -3769.234314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.204390 meters # Minimum depth: 3761.182906 meters looking forward 100.000000 meters along route # Maximum depth: 3764.342719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.182906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013227; longitude = -108.822610; duration = 424; initialDepth = 3687.879604; finalDepth = 3711.182906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5560579999997 # Actual altitude: 54.5560579999997 # Commanded vehicle depth: 3711.182906 # Seafloor depth: -3764.342719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 110.291699 meters # Minimum depth: 3737.879604 meters looking forward 100.000000 meters along route # Maximum depth: 3760.566634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3687.879604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012904; longitude = -108.821627; duration = 441; initialDepth = 3647.938785; finalDepth = 3687.879604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.6870299999996 # Actual altitude: 72.6870299999996 # Commanded vehicle depth: 3687.879604 # Seafloor depth: -3760.566634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 102.117960 meters # Minimum depth: 3697.938785 meters looking forward 100.000000 meters along route # Maximum depth: 3735.873677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3647.938785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012568; longitude = -108.820607; duration = 408; initialDepth = 3648.241459; finalDepth = 3647.938785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.9348920000002 # Actual altitude: 87.9348920000002 # Commanded vehicle depth: 3647.938785 # Seafloor depth: -3735.873677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.205269 meters # Minimum depth: 3698.241459 meters looking forward 100.000000 meters along route # Maximum depth: 3713.547343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3648.241459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012258; longitude = -108.819662; duration = 424; initialDepth = 3646.867569; finalDepth = 3648.241459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.9348920000002 # Actual altitude: 87.9348920000002 # Commanded vehicle depth: 3648.241459 # Seafloor depth: -3698.241459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 43.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 106.205562 meters # Minimum depth: 3696.867569 meters looking forward 100.000000 meters along route # Maximum depth: 3712.744287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3646.867569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011935; longitude = -108.818680; duration = 424; initialDepth = 3635.248778; finalDepth = 3646.867569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.876718 # Actual altitude: 65.876718 # Commanded vehicle depth: 3646.867569 # Seafloor depth: -3712.744287 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.072086 meters # Minimum depth: 3685.248778 meters looking forward 100.000000 meters along route # Maximum depth: 3695.380173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.248778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011612; longitude = -108.817697; duration = 404; initialDepth = 3615.755525; finalDepth = 3635.248778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.876718 # Actual altitude: 65.876718 # Commanded vehicle depth: 3635.248778 # Seafloor depth: -3695.380173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.719290 meters # Minimum depth: 3665.755525 meters looking forward 100.000000 meters along route # Maximum depth: 3684.393346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.755525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011304; longitude = -108.816762; duration = 402; initialDepth = 3601.899388; finalDepth = 3615.755525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6378209999998 # Actual altitude: 68.6378209999998 # Commanded vehicle depth: 3615.755525 # Seafloor depth: -3684.393346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 107.082833 meters # Minimum depth: 3651.899388 meters looking forward 100.000000 meters along route # Maximum depth: 3663.576389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.899388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010998; longitude = -108.815830; duration = 428; initialDepth = 3598.704512; finalDepth = 3601.899388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6378209999998 # Actual altitude: 68.6378209999998 # Commanded vehicle depth: 3601.899388 # Seafloor depth: -3663.576389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 108.866503 meters # Minimum depth: 3648.704512 meters looking forward 100.000000 meters along route # Maximum depth: 3651.838643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3598.704512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010672; longitude = -108.814839; duration = 435; initialDepth = 3599.581055; finalDepth = 3598.704512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.677001 # Actual altitude: 61.677001 # Commanded vehicle depth: 3598.704512 # Seafloor depth: -3651.838643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 56 # Segment length 172.679575 meters # Minimum depth: 3649.581055 meters looking forward 100.000000 meters along route # Maximum depth: 3651.715297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.581055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010341; longitude = -108.813832; duration = 690; # abortOnTimeout = True; initialDepth = 3600.084900; finalDepth = 3599.581055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1341310000003 # Actual altitude: 53.1341310000003 # Commanded vehicle depth: 3599.581055 # Seafloor depth: -3649.581055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 88.637830 meters # Minimum depth: 3650.084900 meters looking forward 100.000000 meters along route # Maximum depth: 3652.640327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.084900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008806; longitude = -108.813537; duration = 354; # abortOnTimeout = True; initialDepth = 3603.090243; finalDepth = 3600.084900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3600.0849 # Seafloor depth: -3650.084900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 107.399354 meters # Minimum depth: 3653.090243 meters looking forward 100.000000 meters along route # Maximum depth: 3661.674343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.090243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009078; longitude = -108.814356; duration = 429; initialDepth = 3611.849061; finalDepth = 3603.090243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.090243 # Seafloor depth: -3653.090243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.285045 meters # Minimum depth: 3661.849061 meters looking forward 100.000000 meters along route # Maximum depth: 3686.789141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.849061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009408; longitude = -108.815348; duration = 421; initialDepth = 3639.859686; finalDepth = 3611.849061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.849061 # Seafloor depth: -3661.849061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.493937 meters # Minimum depth: 3689.859686 meters looking forward 100.000000 meters along route # Maximum depth: 3711.753082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.859686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009731; longitude = -108.816321; duration = 401; initialDepth = 3662.892543; finalDepth = 3639.859686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3639.859686 # Seafloor depth: -3689.859686 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.555147 meters # Minimum depth: 3712.892543 meters looking forward 100.000000 meters along route # Maximum depth: 3735.129965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.892543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010040; longitude = -108.817250; duration = 406; initialDepth = 3687.130989; finalDepth = 3662.892543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3662.892543 # Seafloor depth: -3712.892543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.341195 meters # Minimum depth: 3737.130989 meters looking forward 100.000000 meters along route # Maximum depth: 3744.225824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3687.130989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010352; longitude = -108.818188; duration = 425; initialDepth = 3690.321464; finalDepth = 3687.130989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3687.130989 # Seafloor depth: -3737.130989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.340899 meters # Minimum depth: 3740.321464 meters looking forward 100.000000 meters along route # Maximum depth: 3744.449577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3690.321464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010679; longitude = -108.819171; duration = 425; initialDepth = 3688.332788; finalDepth = 3690.321464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9148829999999 # Actual altitude: 53.9148829999999 # Commanded vehicle depth: 3690.321464 # Seafloor depth: -3744.236347 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.340603 meters # Minimum depth: 3738.332788 meters looking forward 100.000000 meters along route # Maximum depth: 3748.103304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3688.332788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011005; longitude = -108.820154; duration = 425; initialDepth = 3699.676951; finalDepth = 3688.332788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9148829999999 # Actual altitude: 53.9148829999999 # Commanded vehicle depth: 3688.332788 # Seafloor depth: -3739.423764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.563027 meters # Minimum depth: 3749.676951 meters looking forward 100.000000 meters along route # Maximum depth: 3765.008447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3699.676951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011332; longitude = -108.821136; duration = 434; initialDepth = 3715.352407; finalDepth = 3699.676951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.090976 # Actual altitude: 51.090976 # Commanded vehicle depth: 3699.676951 # Seafloor depth: -3749.676951 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 104.117294 meters # Minimum depth: 3765.352407 meters looking forward 100.000000 meters along route # Maximum depth: 3774.346325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.352407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011665; longitude = -108.822139; duration = 416; initialDepth = 3721.292274; finalDepth = 3715.352407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3715.352407 # Seafloor depth: -3765.352407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.657736 meters # Minimum depth: 3771.292274 meters looking forward 100.000000 meters along route # Maximum depth: 3774.489779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.292274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011985; longitude = -108.823101; duration = 406; initialDepth = 3721.146365; finalDepth = 3721.292274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1975050000001 # Actual altitude: 53.1975050000001 # Commanded vehicle depth: 3721.292274 # Seafloor depth: -3774.489779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.387474 meters # Minimum depth: 3771.146365 meters looking forward 100.000000 meters along route # Maximum depth: 3773.930864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.146365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012297; longitude = -108.824041; duration = 401; initialDepth = 3721.232767; finalDepth = 3721.146365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1975050000001 # Actual altitude: 53.1975050000001 # Commanded vehicle depth: 3721.146365 # Seafloor depth: -3771.205231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.339156 meters # Minimum depth: 3771.232767 meters looking forward 100.000000 meters along route # Maximum depth: 3773.688751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.232767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012606; longitude = -108.824968; duration = 425; initialDepth = 3722.033843; finalDepth = 3721.232767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4559840000002 # Actual altitude: 52.4559840000002 # Commanded vehicle depth: 3721.232767 # Seafloor depth: -3773.688751 # 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 55 # Segment length 106.338861 meters # Minimum depth: 3772.033843 meters looking forward 100.000000 meters along route # Maximum depth: 3774.568109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.033843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012932; longitude = -108.825951; duration = 425; initialDepth = 3722.006791; finalDepth = 3722.033843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4559840000002 # Actual altitude: 52.4559840000002 # Commanded vehicle depth: 3722.033843 # Seafloor depth: -3772.033843 # 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 55 # Segment length 106.338565 meters # Minimum depth: 3772.006791 meters looking forward 100.000000 meters along route # Maximum depth: 3774.714312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.006791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013259; longitude = -108.826934; duration = 425; initialDepth = 3721.870747; finalDepth = 3722.006791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6238950000002 # Actual altitude: 52.6238950000002 # Commanded vehicle depth: 3722.006791 # Seafloor depth: -3774.630686 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 109.726657 meters # Minimum depth: 3771.870747 meters looking forward 100.000000 meters along route # Maximum depth: 3778.147863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.870747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013585; longitude = -108.827916; duration = 438; initialDepth = 3728.301692; finalDepth = 3721.870747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6238950000002 # Actual altitude: 52.6238950000002 # Commanded vehicle depth: 3721.870747 # Seafloor depth: -3771.870747 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 102.949589 meters # Minimum depth: 3778.301692 meters looking forward 100.000000 meters along route # Maximum depth: 3779.801010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.301692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013922; longitude = -108.828930; duration = 411; initialDepth = 3729.898173; finalDepth = 3728.301692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3728.301692 # Seafloor depth: -3778.301692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.337679 meters # Minimum depth: 3779.898173 meters looking forward 100.000000 meters along route # Maximum depth: 3781.434307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.898173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014239; longitude = -108.829882; duration = 425; initialDepth = 3731.507681; finalDepth = 3729.898173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3729.898173 # Seafloor depth: -3779.898173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.337385 meters # Minimum depth: 3781.507681 meters looking forward 100.000000 meters along route # Maximum depth: 3783.417948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.507681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014565; longitude = -108.830864; duration = 425; initialDepth = 3733.634013; finalDepth = 3731.507681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3731.507681 # Seafloor depth: -3781.507681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.337089 meters # Minimum depth: 3783.634013 meters looking forward 100.000000 meters along route # Maximum depth: 3784.049222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.634013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014892; longitude = -108.831847; duration = 425; initialDepth = 3733.253716; finalDepth = 3733.634013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3733.634013 # Seafloor depth: -3783.634013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 107.161660 meters # Minimum depth: 3783.253716 meters looking forward 100.000000 meters along route # Maximum depth: 3783.650504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.253716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015218; longitude = -108.832829; duration = 428; initialDepth = 3733.055865; finalDepth = 3733.253716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.396788 # Actual altitude: 50.396788 # Commanded vehicle depth: 3733.253716 # Seafloor depth: -3783.650504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 105.511633 meters # Minimum depth: 3783.055865 meters looking forward 100.000000 meters along route # Maximum depth: 3783.248411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.055865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015548; longitude = -108.833820; duration = 422; initialDepth = 3732.877588; finalDepth = 3733.055865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.396788 # Actual altitude: 50.396788 # Commanded vehicle depth: 3733.055865 # Seafloor depth: -3783.248411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.256605 meters # Minimum depth: 3782.877588 meters looking forward 100.000000 meters along route # Maximum depth: 3783.409030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.877588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015872; longitude = -108.834795; duration = 401; initialDepth = 3732.032072; finalDepth = 3732.877588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1925460000002 # Actual altitude: 50.1925460000002 # Commanded vehicle depth: 3732.877588 # Seafloor depth: -3783.021967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.781930 meters # Minimum depth: 3782.032072 meters looking forward 100.000000 meters along route # Maximum depth: 3783.416714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.032072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016180; longitude = -108.835721; duration = 407; initialDepth = 3731.206559; finalDepth = 3732.032072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.384642 # Actual altitude: 51.384642 # Commanded vehicle depth: 3732.032072 # Seafloor depth: -3783.416714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.335643 meters # Minimum depth: 3781.206559 meters looking forward 100.000000 meters along route # Maximum depth: 3781.915269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.206559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016492; longitude = -108.836662; duration = 425; initialDepth = 3731.090206; finalDepth = 3731.206559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.384642 # Actual altitude: 51.384642 # Commanded vehicle depth: 3731.206559 # Seafloor depth: -3781.915269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.335348 meters # Minimum depth: 3781.090206 meters looking forward 100.000000 meters along route # Maximum depth: 3781.272018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.090206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016819; longitude = -108.837644; duration = 425; initialDepth = 3731.330600; finalDepth = 3731.090206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7087099999999 # Actual altitude: 50.7087099999999 # Commanded vehicle depth: 3731.090206 # Seafloor depth: -3781.200256 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 106.335053 meters # Minimum depth: 3781.330600 meters looking forward 100.000000 meters along route # Maximum depth: 3783.235421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.330600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017145; longitude = -108.838627; duration = 425; initialDepth = 3733.582643; finalDepth = 3731.330600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1100500000002 # Actual altitude: 50.1100500000002 # Commanded vehicle depth: 3731.3306 # Seafloor depth: -3781.330600 # 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 55 # Segment length 108.325280 meters # Minimum depth: 3783.582643 meters looking forward 100.000000 meters along route # Maximum depth: 3785.027431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.582643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017472; longitude = -108.839609; duration = 433; initialDepth = 3733.471853; finalDepth = 3733.582643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3733.582643 # Seafloor depth: -3783.582643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 107.834732 meters # Minimum depth: 3783.471853 meters looking forward 100.000000 meters along route # Maximum depth: 3784.546046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.471853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.017805; longitude = -108.840611; duration = 431; initialDepth = 3733.408811; finalDepth = 3733.471853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0741929999999 # Actual altitude: 51.0741929999999 # Commanded vehicle depth: 3733.471853 # Seafloor depth: -3784.546046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 143.680278 meters # Minimum depth: 3783.408811 meters looking forward 100.000000 meters along route # Maximum depth: 3785.082267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.408811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.018136; longitude = -108.841607; duration = 574; # abortOnTimeout = True; initialDepth = 3733.212323; finalDepth = 3733.408811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0741929999999 # Actual altitude: 51.0741929999999 # Commanded vehicle depth: 3733.408811 # Seafloor depth: -3783.553284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 145.577740 meters # Minimum depth: 3783.212323 meters looking forward 100.000000 meters along route # Maximum depth: 3785.141479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.212323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016932; longitude = -108.842132; duration = 582; # abortOnTimeout = True; initialDepth = 3731.861911; finalDepth = 3733.212323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9291559999997 # Actual altitude: 51.9291559999997 # Commanded vehicle depth: 3733.212323 # Seafloor depth: -3785.141479 # 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 53 # Segment length 106.485981 meters # Minimum depth: 3781.861911 meters looking forward 100.000000 meters along route # Maximum depth: 3782.913984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.861911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016480; longitude = -108.840789; duration = 425; initialDepth = 3732.679719; finalDepth = 3731.861911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9291559999997 # Actual altitude: 51.9291559999997 # Commanded vehicle depth: 3731.861911 # Seafloor depth: -3782.913984 # 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 53 # Segment length 106.632381 meters # Minimum depth: 3782.679719 meters looking forward 100.000000 meters along route # Maximum depth: 3783.756878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.679719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.016149; longitude = -108.839806; duration = 426; initialDepth = 3732.193341; finalDepth = 3732.679719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0520729999998 # Actual altitude: 51.0520729999998 # Commanded vehicle depth: 3732.679719 # Seafloor depth: -3782.679719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.340473 meters # Minimum depth: 3782.193341 meters looking forward 100.000000 meters along route # Maximum depth: 3783.638469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.193341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015818; longitude = -108.838822; duration = 425; initialDepth = 3734.037349; finalDepth = 3732.193341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5588279999997 # Actual altitude: 50.5588279999997 # Commanded vehicle depth: 3732.193341 # Seafloor depth: -3782.752169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.486873 meters # Minimum depth: 3784.037349 meters looking forward 100.000000 meters along route # Maximum depth: 3784.720986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.037349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015488; longitude = -108.837841; duration = 425; initialDepth = 3734.850170; finalDepth = 3734.037349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5588279999997 # Actual altitude: 50.5588279999997 # Commanded vehicle depth: 3734.037349 # Seafloor depth: -3784.037349 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 107.096150 meters # Minimum depth: 3784.850170 meters looking forward 100.000000 meters along route # Maximum depth: 3788.171267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.850170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015158; longitude = -108.836858; duration = 428; initialDepth = 3735.334741; finalDepth = 3734.850170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3734.85017 # Seafloor depth: -3784.850170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 105.878490 meters # Minimum depth: 3785.334741 meters looking forward 100.000000 meters along route # Maximum depth: 3788.244345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.334741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014825; longitude = -108.835870; duration = 423; initialDepth = 3734.384121; finalDepth = 3735.334741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8433749999999 # Actual altitude: 52.8433749999999 # Commanded vehicle depth: 3735.334741 # Seafloor depth: -3788.178116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.487767 meters # Minimum depth: 3784.384121 meters looking forward 100.000000 meters along route # Maximum depth: 3785.410834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.384121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014497; longitude = -108.834893; duration = 425; initialDepth = 3734.180817; finalDepth = 3734.384121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8433749999999 # Actual altitude: 52.8433749999999 # Commanded vehicle depth: 3734.384121 # Seafloor depth: -3784.993133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 107.559926 meters # Minimum depth: 3784.180817 meters looking forward 100.000000 meters along route # Maximum depth: 3785.712974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.180817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014166; longitude = -108.833910; duration = 430; initialDepth = 3733.709199; finalDepth = 3734.180817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3937260000002 # Actual altitude: 51.3937260000002 # Commanded vehicle depth: 3734.180817 # Seafloor depth: -3785.574543 # 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 53 # Segment length 105.416500 meters # Minimum depth: 3783.709199 meters looking forward 100.000000 meters along route # Maximum depth: 3784.161571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.709199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013832; longitude = -108.832918; duration = 421; initialDepth = 3734.159693; finalDepth = 3733.709199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3937260000002 # Actual altitude: 51.3937260000002 # Commanded vehicle depth: 3733.709199 # Seafloor depth: -3784.161571 # 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 53 # Segment length 106.488660 meters # Minimum depth: 3784.159693 meters looking forward 100.000000 meters along route # Maximum depth: 3784.704858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.159693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013505; longitude = -108.831945; duration = 425; initialDepth = 3731.669174; finalDepth = 3734.159693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4523720000002 # Actual altitude: 50.4523720000002 # Commanded vehicle depth: 3734.159693 # Seafloor depth: -3784.216499 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 108.023711 meters # Minimum depth: 3781.669174 meters looking forward 100.000000 meters along route # Maximum depth: 3783.885545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.669174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013174; longitude = -108.830962; duration = 432; initialDepth = 3731.248502; finalDepth = 3731.669174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.216371 # Actual altitude: 52.216371 # Commanded vehicle depth: 3731.669174 # Seafloor depth: -3783.885545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.954502 meters # Minimum depth: 3781.248502 meters looking forward 100.000000 meters along route # Maximum depth: 3781.735020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.248502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012839; longitude = -108.829966; duration = 419; initialDepth = 3729.936021; finalDepth = 3731.248502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.216371 # Actual altitude: 52.216371 # Commanded vehicle depth: 3731.248502 # Seafloor depth: -3781.729808 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.489553 meters # Minimum depth: 3779.936021 meters looking forward 100.000000 meters along route # Maximum depth: 3781.060123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.936021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012513; longitude = -108.828997; duration = 425; initialDepth = 3729.153112; finalDepth = 3729.936021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1241020000002 # Actual altitude: 51.1241020000002 # Commanded vehicle depth: 3729.936021 # Seafloor depth: -3781.060123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 108.487504 meters # Minimum depth: 3779.153112 meters looking forward 100.000000 meters along route # Maximum depth: 3779.809838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.153112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012183; longitude = -108.828015; duration = 433; initialDepth = 3728.207154; finalDepth = 3729.153112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1241020000002 # Actual altitude: 51.1241020000002 # Commanded vehicle depth: 3729.153112 # Seafloor depth: -3779.809838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.492497 meters # Minimum depth: 3778.207154 meters looking forward 100.000000 meters along route # Maximum depth: 3779.686872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.207154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011846; longitude = -108.827013; duration = 417; initialDepth = 3727.782873; finalDepth = 3728.207154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4758259999999 # Actual altitude: 51.4758259999999 # Commanded vehicle depth: 3728.207154 # Seafloor depth: -3779.682980 # 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 53 # Segment length 106.490447 meters # Minimum depth: 3777.782873 meters looking forward 100.000000 meters along route # Maximum depth: 3778.653438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.782873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011521; longitude = -108.826049; duration = 425; initialDepth = 3724.952854; finalDepth = 3727.782873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4758259999999 # Actual altitude: 51.4758259999999 # Commanded vehicle depth: 3727.782873 # Seafloor depth: -3778.073600 # 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 53 # Segment length 108.951304 meters # Minimum depth: 3774.952854 meters looking forward 100.000000 meters along route # Maximum depth: 3778.641614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.952854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011191; longitude = -108.825067; duration = 435; initialDepth = 3723.587496; finalDepth = 3724.952854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.68876 # Actual altitude: 53.68876 # Commanded vehicle depth: 3724.952854 # Seafloor depth: -3778.641614 # 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 53 # Segment length 104.030484 meters # Minimum depth: 3773.587496 meters looking forward 100.000000 meters along route # Maximum depth: 3775.666407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.587496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010853; longitude = -108.824061; duration = 416; initialDepth = 3721.351146; finalDepth = 3723.587496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.68876 # Actual altitude: 53.68876 # Commanded vehicle depth: 3723.587496 # Seafloor depth: -3774.832751 # 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 53 # Segment length 106.491341 meters # Minimum depth: 3771.351146 meters looking forward 100.000000 meters along route # Maximum depth: 3777.040729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.351146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010530; longitude = -108.823101; duration = 425; initialDepth = 3701.377545; finalDepth = 3721.351146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0212419999998 # Actual altitude: 55.0212419999998 # Commanded vehicle depth: 3721.351146 # Seafloor depth: -3776.372388 # 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 53 # Segment length 109.415113 meters # Minimum depth: 3751.377545 meters looking forward 100.000000 meters along route # Maximum depth: 3770.227526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3701.377545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010199; longitude = -108.822119; duration = 437; initialDepth = 3696.291608; finalDepth = 3701.377545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.8499810000003 # Actual altitude: 68.8499810000003 # Commanded vehicle depth: 3701.377545 # Seafloor depth: -3770.227526 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 103.568463 meters # Minimum depth: 3746.291608 meters looking forward 100.000000 meters along route # Maximum depth: 3751.161809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.291608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009860; longitude = -108.821109; duration = 414; initialDepth = 3694.176050; finalDepth = 3696.291608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.8499810000003 # Actual altitude: 68.8499810000003 # Commanded vehicle depth: 3696.291608 # Seafloor depth: -3751.161809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.029171 meters # Minimum depth: 3744.176050 meters looking forward 100.000000 meters along route # Maximum depth: 3745.615470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3694.176050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009538; longitude = -108.820154; duration = 400; initialDepth = 3695.456271; finalDepth = 3694.176050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8702010000002 # Actual altitude: 54.8702010000002 # Commanded vehicle depth: 3694.17605 # Seafloor depth: -3745.615470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 102.306331 meters # Minimum depth: 3745.456271 meters looking forward 100.000000 meters along route # Maximum depth: 3747.469029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.456271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009228; longitude = -108.819231; duration = 409; initialDepth = 3678.069096; finalDepth = 3695.456271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4394200000002 # Actual altitude: 51.4394200000002 # Commanded vehicle depth: 3695.456271 # Seafloor depth: -3745.456271 # 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 53 # Segment length 101.292392 meters # Minimum depth: 3728.069096 meters looking forward 100.000000 meters along route # Maximum depth: 3745.435084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.069096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008910; longitude = -108.818287; duration = 405; initialDepth = 3655.374506; finalDepth = 3678.069096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.365988 # Actual altitude: 67.365988 # Commanded vehicle depth: 3678.069096 # Seafloor depth: -3745.435084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.044186 meters # Minimum depth: 3705.374506 meters looking forward 100.000000 meters along route # Maximum depth: 3726.929985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3655.374506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008596; longitude = -108.817352; duration = 404; initialDepth = 3619.251089; finalDepth = 3655.374506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.5554790000001 # Actual altitude: 71.5554790000001 # Commanded vehicle depth: 3655.374506 # Seafloor depth: -3726.929985 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.493368 meters # Minimum depth: 3669.251089 meters looking forward 100.000000 meters along route # Maximum depth: 3701.932168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3619.251089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008282; longitude = -108.816420; duration = 425; initialDepth = 3605.918835; finalDepth = 3619.251089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.681079 # Actual altitude: 82.681079 # Commanded vehicle depth: 3619.251089 # Seafloor depth: -3701.932168 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 106.493666 meters # Minimum depth: 3655.918835 meters looking forward 100.000000 meters along route # Maximum depth: 3668.288517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3605.918835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007951; longitude = -108.815437; duration = 425; initialDepth = 3601.842479; finalDepth = 3605.918835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.681079 # Actual altitude: 82.681079 # Commanded vehicle depth: 3605.918835 # Seafloor depth: -3668.288517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 102.989812 meters # Minimum depth: 3651.842479 meters looking forward 100.000000 meters along route # Maximum depth: 3655.182085 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.842479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007621; longitude = -108.814454; duration = 411; initialDepth = 3601.904968; finalDepth = 3601.842479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.369682 # Actual altitude: 62.369682 # Commanded vehicle depth: 3601.842479 # Seafloor depth: -3655.182085 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 160.279358 meters # Minimum depth: 3651.904968 meters looking forward 100.000000 meters along route # Maximum depth: 3653.355374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3601.904968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007301; longitude = -108.813504; duration = 641; # abortOnTimeout = True; initialDepth = 3603.677673; finalDepth = 3601.904968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.339606 # Actual altitude: 53.339606 # Commanded vehicle depth: 3601.904968 # Seafloor depth: -3651.904968 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 96.688658 meters # Minimum depth: 3653.677673 meters looking forward 100.000000 meters along route # Maximum depth: 3660.813421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3603.677673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005857; longitude = -108.813406; duration = 386; # abortOnTimeout = True; initialDepth = 3611.426462; finalDepth = 3603.677673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3603.677673 # Seafloor depth: -3653.677673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.173997 meters # Minimum depth: 3661.426462 meters looking forward 100.000000 meters along route # Maximum depth: 3676.876554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3611.426462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006158; longitude = -108.814298; duration = 408; initialDepth = 3628.708304; finalDepth = 3611.426462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3611.426462 # Seafloor depth: -3661.426462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.523919 meters # Minimum depth: 3678.708304 meters looking forward 100.000000 meters along route # Maximum depth: 3698.782073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.708304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006476; longitude = -108.815240; duration = 426; initialDepth = 3650.426149; finalDepth = 3628.708304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3628.708304 # Seafloor depth: -3678.708304 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 110.590457 meters # Minimum depth: 3700.426149 meters looking forward 100.000000 meters along route # Maximum depth: 3732.755992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.426149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006807; longitude = -108.816223; duration = 442; initialDepth = 3680.058772; finalDepth = 3650.426149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3650.426149 # Seafloor depth: -3700.426149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.456485 meters # Minimum depth: 3733.544815 meters looking forward 100.000000 meters along route # Maximum depth: 3745.149548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3680.058772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007151; longitude = -108.817243; duration = 409; initialDepth = 3696.065306; finalDepth = 3680.058772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4860428855973 # Actual altitude: 53.4860428855973 # Commanded vehicle depth: 3680.0587721144 # Seafloor depth: -3733.544815 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 106.523023 meters # Minimum depth: 3746.065306 meters looking forward 100.000000 meters along route # Maximum depth: 3750.985896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.065306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007470; longitude = -108.818188; duration = 426; initialDepth = 3701.094584; finalDepth = 3696.065306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4860428855973 # Actual altitude: 53.4860428855973 # Commanded vehicle depth: 3696.065306 # Seafloor depth: -3746.065306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 110.306181 meters # Minimum depth: 3751.094584 meters looking forward 100.000000 meters along route # Maximum depth: 3754.935290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3701.094584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007801; longitude = -108.819171; duration = 441; initialDepth = 3704.875706; finalDepth = 3701.094584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3701.094584 # Seafloor depth: -3751.094584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.738969 meters # Minimum depth: 3754.875706 meters looking forward 100.000000 meters along route # Maximum depth: 3755.809249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3704.875706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008144; longitude = -108.820188; duration = 410; initialDepth = 3706.211728; finalDepth = 3704.875706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0439820000001 # Actual altitude: 50.0439820000001 # Commanded vehicle depth: 3704.875706 # Seafloor depth: -3754.919688 # 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 51 # Segment length 106.522128 meters # Minimum depth: 3756.211728 meters looking forward 100.000000 meters along route # Maximum depth: 3765.537813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.211728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008464; longitude = -108.821136; duration = 426; initialDepth = 3716.241459; finalDepth = 3706.211728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0439820000001 # Actual altitude: 50.0439820000001 # Commanded vehicle depth: 3706.211728 # Seafloor depth: -3756.211728 # 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 51 # Segment length 110.021911 meters # Minimum depth: 3766.241459 meters looking forward 100.000000 meters along route # Maximum depth: 3774.461234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.241459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008795; longitude = -108.822119; duration = 440; initialDepth = 3724.627174; finalDepth = 3716.241459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3716.241459 # Seafloor depth: -3766.241459 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 103.021448 meters # Minimum depth: 3774.627174 meters looking forward 100.000000 meters along route # Maximum depth: 3776.723525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.627174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009137; longitude = -108.823134; duration = 412; initialDepth = 3724.693020; finalDepth = 3724.627174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3724.627174 # Seafloor depth: -3774.627174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.157251 meters # Minimum depth: 3774.693020 meters looking forward 100.000000 meters along route # Maximum depth: 3776.619335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.693020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009458; longitude = -108.824084; duration = 400; initialDepth = 3724.088797; finalDepth = 3724.693020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9263149999997 # Actual altitude: 51.9263149999997 # Commanded vehicle depth: 3724.69302 # Seafloor depth: -3776.619335 # 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 51 # Segment length 102.232834 meters # Minimum depth: 3774.088797 meters looking forward 100.000000 meters along route # Maximum depth: 3774.967720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.088797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009769; longitude = -108.825008; duration = 408; initialDepth = 3725.302196; finalDepth = 3724.088797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9263149999997 # Actual altitude: 51.9263149999997 # Commanded vehicle depth: 3724.088797 # Seafloor depth: -3774.588075 # 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 51 # Segment length 106.520665 meters # Minimum depth: 3775.302196 meters looking forward 100.000000 meters along route # Maximum depth: 3777.272310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.302196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010087; longitude = -108.825951; duration = 426; initialDepth = 3726.937202; finalDepth = 3725.302196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4992780000002 # Actual altitude: 50.4992780000002 # Commanded vehicle depth: 3725.302196 # Seafloor depth: -3775.302196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 110.525121 meters # Minimum depth: 3776.937202 meters looking forward 100.000000 meters along route # Maximum depth: 3780.679627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.937202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010419; longitude = -108.826934; duration = 442; initialDepth = 3730.983807; finalDepth = 3726.937202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0375309999999 # Actual altitude: 50.0375309999999 # Commanded vehicle depth: 3726.937202 # Seafloor depth: -3776.974733 # 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 51 # Segment length 102.515313 meters # Minimum depth: 3780.983807 meters looking forward 100.000000 meters along route # Maximum depth: 3783.631595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.983807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010762; longitude = -108.827953; duration = 410; initialDepth = 3731.376848; finalDepth = 3730.983807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0375309999999 # Actual altitude: 50.0375309999999 # Commanded vehicle depth: 3730.983807 # Seafloor depth: -3780.983807 # 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 51 # Segment length 106.519770 meters # Minimum depth: 3781.376848 meters looking forward 100.000000 meters along route # Maximum depth: 3783.124655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.376848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011081; longitude = -108.828899; duration = 426; initialDepth = 3730.608156; finalDepth = 3731.376848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7478070000002 # Actual altitude: 51.7478070000002 # Commanded vehicle depth: 3731.376848 # Seafloor depth: -3783.124655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 110.240855 meters # Minimum depth: 3780.608156 meters looking forward 100.000000 meters along route # Maximum depth: 3782.641215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.608156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011413; longitude = -108.829882; duration = 440; initialDepth = 3732.803157; finalDepth = 3730.608156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7478070000002 # Actual altitude: 51.7478070000002 # Commanded vehicle depth: 3730.608156 # Seafloor depth: -3781.168078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.797789 meters # Minimum depth: 3782.803157 meters looking forward 100.000000 meters along route # Maximum depth: 3784.624297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.803157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011756; longitude = -108.830898; duration = 411; initialDepth = 3733.234916; finalDepth = 3732.803157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5599220000004 # Actual altitude: 50.5599220000004 # Commanded vehicle depth: 3732.803157 # Seafloor depth: -3782.803157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 106.518875 meters # Minimum depth: 3783.234916 meters looking forward 100.000000 meters along route # Maximum depth: 3784.441128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.234916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012075; longitude = -108.831847; duration = 426; initialDepth = 3733.601778; finalDepth = 3733.234916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2062120000001 # Actual altitude: 51.2062120000001 # Commanded vehicle depth: 3733.234916 # Seafloor depth: -3784.441128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 109.956595 meters # Minimum depth: 3783.601778 meters looking forward 100.000000 meters along route # Maximum depth: 3784.219676 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.601778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012407; longitude = -108.832829; duration = 439; initialDepth = 3734.216465; finalDepth = 3733.601778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2062120000001 # Actual altitude: 51.2062120000001 # Commanded vehicle depth: 3733.601778 # Seafloor depth: -3783.601778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 103.080260 meters # Minimum depth: 3784.216465 meters looking forward 100.000000 meters along route # Maximum depth: 3785.123535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.216465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012749; longitude = -108.833844; duration = 412; initialDepth = 3735.253023; finalDepth = 3734.216465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3734.216465 # Seafloor depth: -3784.216465 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 100.092237 meters # Minimum depth: 3785.253023 meters looking forward 100.000000 meters along route # Maximum depth: 3786.431055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.253023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013069; longitude = -108.834795; duration = 400; initialDepth = 3736.389836; finalDepth = 3735.253023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3735.253023 # Seafloor depth: -3785.253023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.291670 meters # Minimum depth: 3786.389836 meters looking forward 100.000000 meters along route # Maximum depth: 3787.009805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.389836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013381; longitude = -108.835718; duration = 409; initialDepth = 3735.956365; finalDepth = 3736.389836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0176230000002 # Actual altitude: 50.0176230000002 # Commanded vehicle depth: 3736.389836 # Seafloor depth: -3786.407459 # 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 51 # Segment length 106.517413 meters # Minimum depth: 3785.956365 meters looking forward 100.000000 meters along route # Maximum depth: 3787.433338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.956365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013699; longitude = -108.836662; duration = 426; initialDepth = 3734.735562; finalDepth = 3735.956365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2006219999998 # Actual altitude: 51.2006219999998 # Commanded vehicle depth: 3735.956365 # Seafloor depth: -3787.156987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 110.459792 meters # Minimum depth: 3784.735562 meters looking forward 100.000000 meters along route # Maximum depth: 3785.844561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.735562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014030; longitude = -108.837644; duration = 441; initialDepth = 3732.454514; finalDepth = 3734.735562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2006219999998 # Actual altitude: 51.2006219999998 # Commanded vehicle depth: 3734.735562 # Seafloor depth: -3785.844561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 102.574141 meters # Minimum depth: 3782.454514 meters looking forward 100.000000 meters along route # Maximum depth: 3784.582130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.454514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014374; longitude = -108.838663; duration = 410; initialDepth = 3733.042416; finalDepth = 3732.454514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1276159999998 # Actual altitude: 52.1276159999998 # Commanded vehicle depth: 3732.454514 # Seafloor depth: -3784.582130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 106.516519 meters # Minimum depth: 3783.042416 meters looking forward 100.000000 meters along route # Maximum depth: 3787.160047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.042416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014693; longitude = -108.839609; duration = 426; initialDepth = 3735.753149; finalDepth = 3733.042416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1276159999998 # Actual altitude: 52.1276159999998 # Commanded vehicle depth: 3733.042416 # Seafloor depth: -3783.042416 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 110.175536 meters # Minimum depth: 3785.753149 meters looking forward 100.000000 meters along route # Maximum depth: 3787.147536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.753149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015024; longitude = -108.840592; duration = 440; initialDepth = 3735.802489; finalDepth = 3735.753149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3943869999998 # Actual altitude: 51.3943869999998 # Commanded vehicle depth: 3735.753149 # Seafloor depth: -3787.147536 # 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 51 # Segment length 106.394005 meters # Minimum depth: 3785.802489 meters looking forward 100.000000 meters along route # Maximum depth: 3786.662259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.802489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015367; longitude = -108.841608; duration = 425; initialDepth = 3735.039748; finalDepth = 3735.802489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.3943869999998 # Actual altitude: 51.3943869999998 # Commanded vehicle depth: 3735.802489 # Seafloor depth: -3785.802489 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 139.322982 meters # Minimum depth: 3785.039748 meters looking forward 100.000000 meters along route # Maximum depth: 3786.620361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.039748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015698; longitude = -108.842590; duration = 557; # abortOnTimeout = True; initialDepth = 3735.926636; finalDepth = 3735.039748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5806129999996 # Actual altitude: 51.5806129999996 # Commanded vehicle depth: 3735.039748 # Seafloor depth: -3786.620361 # 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; } # ####################################################### # # 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 152.505465 meters # Minimum depth: 3785.926636 meters looking forward 100.000000 meters along route # Maximum depth: 3786.391803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.926636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014524; longitude = -108.843081; duration = 610; # abortOnTimeout = True; initialDepth = 3735.712625; finalDepth = 3735.926636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5806129999996 # Actual altitude: 51.5806129999996 # Commanded vehicle depth: 3735.926636 # Seafloor depth: -3785.926636 # 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 49 # Segment length 100.426721 meters # Minimum depth: 3785.712625 meters looking forward 100.000000 meters along route # Maximum depth: 3786.367485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.712625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014052; longitude = -108.841673; duration = 401; initialDepth = 3734.967858; finalDepth = 3735.712625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5678349999998 # Actual altitude: 50.5678349999998 # Commanded vehicle depth: 3735.712625 # Seafloor depth: -3786.280460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.794881 meters # Minimum depth: 3784.967858 meters looking forward 100.000000 meters along route # Maximum depth: 3785.646195 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.967858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013742; longitude = -108.840746; duration = 407; initialDepth = 3734.943072; finalDepth = 3734.967858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6783369999998 # Actual altitude: 50.6783369999998 # Commanded vehicle depth: 3734.967858 # Seafloor depth: -3785.646195 # 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 49 # Segment length 106.432853 meters # Minimum depth: 3784.943072 meters looking forward 100.000000 meters along route # Maximum depth: 3786.826367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.943072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013427; longitude = -108.839806; duration = 425; initialDepth = 3736.461432; finalDepth = 3734.943072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6783369999998 # Actual altitude: 50.6783369999998 # Commanded vehicle depth: 3734.943072 # Seafloor depth: -3784.961547 # 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 49 # Segment length 106.433149 meters # Minimum depth: 3786.461432 meters looking forward 100.000000 meters along route # Maximum depth: 3786.940197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.461432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013098; longitude = -108.838823; duration = 425; initialDepth = 3736.828096; finalDepth = 3736.461432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4121489999998 # Actual altitude: 50.4121489999998 # Commanded vehicle depth: 3736.461432 # Seafloor depth: -3786.873581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.433446 meters # Minimum depth: 3786.828096 meters looking forward 100.000000 meters along route # Maximum depth: 3788.520502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.828096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012769; longitude = -108.837841; duration = 425; initialDepth = 3736.579658; finalDepth = 3736.828096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4121489999998 # Actual altitude: 50.4121489999998 # Commanded vehicle depth: 3736.828096 # Seafloor depth: -3786.828096 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.433742 meters # Minimum depth: 3786.579658 meters looking forward 100.000000 meters along route # Maximum depth: 3788.343437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.579658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012440; longitude = -108.836858; duration = 425; initialDepth = 3736.813941; finalDepth = 3736.579658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7637789999999 # Actual altitude: 51.7637789999999 # Commanded vehicle depth: 3736.579658 # Seafloor depth: -3788.343437 # 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 49 # Segment length 106.434040 meters # Minimum depth: 3786.813941 meters looking forward 100.000000 meters along route # Maximum depth: 3787.816541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.813941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012111; longitude = -108.835876; duration = 425; initialDepth = 3736.142155; finalDepth = 3736.813941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7637789999999 # Actual altitude: 51.7637789999999 # Commanded vehicle depth: 3736.813941 # Seafloor depth: -3786.813941 # 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 49 # Segment length 106.434336 meters # Minimum depth: 3786.142155 meters looking forward 100.000000 meters along route # Maximum depth: 3787.140002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.142155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011782; longitude = -108.834893; duration = 425; initialDepth = 3736.429222; finalDepth = 3736.142155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9978470000001 # Actual altitude: 50.9978470000001 # Commanded vehicle depth: 3736.142155 # Seafloor depth: -3787.140002 # 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 49 # Segment length 106.434632 meters # Minimum depth: 3786.429222 meters looking forward 100.000000 meters along route # Maximum depth: 3787.369414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.429222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011452; longitude = -108.833910; duration = 425; initialDepth = 3736.243676; finalDepth = 3736.429222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9978470000001 # Actual altitude: 50.9978470000001 # Commanded vehicle depth: 3736.429222 # Seafloor depth: -3786.790906 # 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 49 # Segment length 106.434930 meters # Minimum depth: 3786.243676 meters looking forward 100.000000 meters along route # Maximum depth: 3788.254033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.243676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011123; longitude = -108.832928; duration = 425; initialDepth = 3736.385145; finalDepth = 3736.243676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.361684 # Actual altitude: 50.361684 # Commanded vehicle depth: 3736.243676 # Seafloor depth: -3786.427924 # 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 49 # Segment length 106.435226 meters # Minimum depth: 3786.385145 meters looking forward 100.000000 meters along route # Maximum depth: 3788.789595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.385145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010794; longitude = -108.831945; duration = 425; initialDepth = 3735.489237; finalDepth = 3736.385145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1413889999999 # Actual altitude: 52.1413889999999 # Commanded vehicle depth: 3736.385145 # Seafloor depth: -3788.526534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 108.227497 meters # Minimum depth: 3785.489237 meters looking forward 100.000000 meters along route # Maximum depth: 3787.280392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.489237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010465; longitude = -108.830962; duration = 432; initialDepth = 3732.855236; finalDepth = 3735.489237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1413889999999 # Actual altitude: 52.1413889999999 # Commanded vehicle depth: 3735.489237 # Seafloor depth: -3786.080315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 104.643846 meters # Minimum depth: 3782.855236 meters looking forward 100.000000 meters along route # Maximum depth: 3787.370193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.855236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010130; longitude = -108.829963; duration = 418; initialDepth = 3731.620834; finalDepth = 3732.855236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.450879 # Actual altitude: 54.450879 # Commanded vehicle depth: 3732.855236 # Seafloor depth: -3787.306115 # 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 49 # Segment length 106.436117 meters # Minimum depth: 3781.620834 meters looking forward 100.000000 meters along route # Maximum depth: 3782.474349 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.620834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009807; longitude = -108.828997; duration = 425; initialDepth = 3731.086034; finalDepth = 3731.620834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.450879 # Actual altitude: 54.450879 # Commanded vehicle depth: 3731.620834 # Seafloor depth: -3782.371688 # 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 49 # Segment length 110.106704 meters # Minimum depth: 3781.086034 meters looking forward 100.000000 meters along route # Maximum depth: 3782.464426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.086034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009478; longitude = -108.828015; duration = 440; initialDepth = 3727.577618; finalDepth = 3731.086034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3783920000001 # Actual altitude: 51.3783920000001 # Commanded vehicle depth: 3731.086034 # Seafloor depth: -3782.464426 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 102.766421 meters # Minimum depth: 3777.577618 meters looking forward 100.000000 meters along route # Maximum depth: 3780.975930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.577618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009137; longitude = -108.826998; duration = 411; initialDepth = 3727.371437; finalDepth = 3727.577618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3983120000003 # Actual altitude: 53.3983120000003 # Commanded vehicle depth: 3727.577618 # Seafloor depth: -3780.975930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.626502 meters # Minimum depth: 3777.371437 meters looking forward 100.000000 meters along route # Maximum depth: 3778.364035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.371437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008819; longitude = -108.826049; duration = 406; initialDepth = 3728.570805; finalDepth = 3727.371437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3983120000003 # Actual altitude: 53.3983120000003 # Commanded vehicle depth: 3727.371437 # Seafloor depth: -3777.429387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.604066 meters # Minimum depth: 3778.570805 meters looking forward 100.000000 meters along route # Maximum depth: 3779.194470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.570805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008505; longitude = -108.825111; duration = 402; initialDepth = 3725.750702; finalDepth = 3728.570805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0579500000003 # Actual altitude: 50.0579500000003 # Commanded vehicle depth: 3728.570805 # Seafloor depth: -3778.570805 # 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 49 # Segment length 106.437572 meters # Minimum depth: 3775.750702 meters looking forward 100.000000 meters along route # Maximum depth: 3779.002829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.750702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008194; longitude = -108.824182; duration = 425; initialDepth = 3715.771233; finalDepth = 3725.750702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2126480000002 # Actual altitude: 53.2126480000002 # Commanded vehicle depth: 3725.750702 # Seafloor depth: -3778.963350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.437869 meters # Minimum depth: 3765.771233 meters looking forward 100.000000 meters along route # Maximum depth: 3775.552330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.771233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007865; longitude = -108.823200; duration = 425; initialDepth = 3705.773679; finalDepth = 3715.771233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.781097 # Actual altitude: 59.781097 # Commanded vehicle depth: 3715.771233 # Seafloor depth: -3775.552330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.438166 meters # Minimum depth: 3755.773679 meters looking forward 100.000000 meters along route # Maximum depth: 3764.493157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.773679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007536; longitude = -108.822217; duration = 425; initialDepth = 3704.852430; finalDepth = 3705.773679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.781097 # Actual altitude: 59.781097 # Commanded vehicle depth: 3705.773679 # Seafloor depth: -3764.493157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.438463 meters # Minimum depth: 3754.852430 meters looking forward 100.000000 meters along route # Maximum depth: 3756.188382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3704.852430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007207; longitude = -108.821234; duration = 425; initialDepth = 3705.688177; finalDepth = 3704.852430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.719478 # Actual altitude: 58.719478 # Commanded vehicle depth: 3704.85243 # Seafloor depth: -3755.310907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.438760 meters # Minimum depth: 3755.688177 meters looking forward 100.000000 meters along route # Maximum depth: 3756.500315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.688177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006878; longitude = -108.820252; duration = 425; initialDepth = 3704.986116; finalDepth = 3705.688177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5120860000002 # Actual altitude: 50.5120860000002 # Commanded vehicle depth: 3705.688177 # Seafloor depth: -3756.200263 # 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 49 # Segment length 106.439058 meters # Minimum depth: 3754.986116 meters looking forward 100.000000 meters along route # Maximum depth: 3756.064024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3704.986116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006549; longitude = -108.819269; duration = 425; initialDepth = 3686.107264; finalDepth = 3704.986116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8210319999998 # Actual altitude: 50.8210319999998 # Commanded vehicle depth: 3704.986116 # Seafloor depth: -3755.807148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 107.548395 meters # Minimum depth: 3736.107264 meters looking forward 100.000000 meters along route # Maximum depth: 3754.769863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.107264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006219; longitude = -108.818287; duration = 430; initialDepth = 3658.699357; finalDepth = 3686.107264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6625989999998 # Actual altitude: 68.6625989999998 # Commanded vehicle depth: 3686.107264 # Seafloor depth: -3754.769863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 105.330611 meters # Minimum depth: 3708.699357 meters looking forward 100.000000 meters along route # Maximum depth: 3735.701683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3658.699357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005887; longitude = -108.817294; duration = 421; initialDepth = 3634.180406; finalDepth = 3658.699357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0023259999998 # Actual altitude: 77.0023259999998 # Commanded vehicle depth: 3658.699357 # Seafloor depth: -3735.701683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 106.439949 meters # Minimum depth: 3684.180406 meters looking forward 100.000000 meters along route # Maximum depth: 3706.758147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.180406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005561; longitude = -108.816321; duration = 425; initialDepth = 3616.865202; finalDepth = 3634.180406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.0023259999998 # Actual altitude: 77.0023259999998 # Commanded vehicle depth: 3634.180406 # Seafloor depth: -3706.758147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 109.427664 meters # Minimum depth: 3666.865202 meters looking forward 100.000000 meters along route # Maximum depth: 3682.523661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.865202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005232; longitude = -108.815339; duration = 437; initialDepth = 3615.368513; finalDepth = 3616.865202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.5777410000001 # Actual altitude: 72.5777410000001 # Commanded vehicle depth: 3616.865202 # Seafloor depth: -3682.523661 # 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 49 # Segment length 106.963278 meters # Minimum depth: 3665.368513 meters looking forward 100.000000 meters along route # Maximum depth: 3667.309098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3615.368513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004894; longitude = -108.814328; duration = 427; initialDepth = 3616.394653; finalDepth = 3615.368513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.6584590000002 # Actual altitude: 65.6584590000002 # Commanded vehicle depth: 3615.368513 # Seafloor depth: -3666.667506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 150.440114 meters # Minimum depth: 3666.394653 meters looking forward 100.000000 meters along route # Maximum depth: 3677.819159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3616.394653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004563; longitude = -108.813341; duration = 601; # abortOnTimeout = True; initialDepth = 3626.732468; finalDepth = 3616.394653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.2989929999999 # Actual altitude: 51.2989929999999 # Commanded vehicle depth: 3616.394653 # Seafloor depth: -3666.394653 # 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; } # ####################################################### # # 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 120.788867 meters # Minimum depth: 3676.732468 meters looking forward 100.000000 meters along route # Maximum depth: 3678.817511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.732468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003208; longitude = -108.813439; duration = 483; # abortOnTimeout = True; initialDepth = 3629.951418; finalDepth = 3626.732468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3386379999997 # Actual altitude: 51.3386379999997 # Commanded vehicle depth: 3626.732468 # Seafloor depth: -3678.071106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.940679 meters # Minimum depth: 3679.951418 meters looking forward 100.000000 meters along route # Maximum depth: 3693.325877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.951418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003585; longitude = -108.814553; duration = 403; initialDepth = 3644.060539; finalDepth = 3629.951418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3386379999997 # Actual altitude: 51.3386379999997 # Commanded vehicle depth: 3629.951418 # Seafloor depth: -3679.951418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.573281 meters # Minimum depth: 3694.060539 meters looking forward 100.000000 meters along route # Maximum depth: 3709.231041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3644.060539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003901; longitude = -108.815483; duration = 406; initialDepth = 3661.348683; finalDepth = 3644.060539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3644.060539 # Seafloor depth: -3694.060539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.764902 meters # Minimum depth: 3711.348683 meters looking forward 100.000000 meters along route # Maximum depth: 3741.263454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.348683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004218; longitude = -108.816420; duration = 403; initialDepth = 3688.348557; finalDepth = 3661.348683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3661.348683 # Seafloor depth: -3711.348683 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.747975 meters # Minimum depth: 3743.049249 meters looking forward 100.000000 meters along route # Maximum depth: 3763.390225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3688.348557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004533; longitude = -108.817349; duration = 406; initialDepth = 3709.590786; finalDepth = 3688.348557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7006923660038 # Actual altitude: 54.7006923660038 # Commanded vehicle depth: 3688.348556634 # Seafloor depth: -3743.049249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.585291 meters # Minimum depth: 3759.590786 meters looking forward 100.000000 meters along route # Maximum depth: 3764.056264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3709.590786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004850; longitude = -108.818287; duration = 426; initialDepth = 3706.867888; finalDepth = 3709.590786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7006923660038 # Actual altitude: 54.7006923660038 # Commanded vehicle depth: 3709.590786 # Seafloor depth: -3763.807253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 109.624555 meters # Minimum depth: 3756.867888 meters looking forward 100.000000 meters along route # Maximum depth: 3759.280378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.867888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005183; longitude = -108.819269; duration = 438; initialDepth = 3705.805457; finalDepth = 3706.867888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2164669999997 # Actual altitude: 54.2164669999997 # Commanded vehicle depth: 3706.867888 # Seafloor depth: -3759.280378 # 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 47 # Segment length 103.545127 meters # Minimum depth: 3755.805457 meters looking forward 100.000000 meters along route # Maximum depth: 3758.267694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.805457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005526; longitude = -108.820280; duration = 414; initialDepth = 3704.003759; finalDepth = 3705.805457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4124899999997 # Actual altitude: 52.4124899999997 # Commanded vehicle depth: 3705.805457 # Seafloor depth: -3757.727540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.584392 meters # Minimum depth: 3754.003759 meters looking forward 100.000000 meters along route # Maximum depth: 3757.386359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3704.003759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005849; longitude = -108.821234; duration = 426; initialDepth = 3708.266606; finalDepth = 3704.003759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9220829999999 # Actual altitude: 51.9220829999999 # Commanded vehicle depth: 3704.003759 # Seafloor depth: -3755.104339 # 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 47 # Segment length 107.825636 meters # Minimum depth: 3758.266606 meters looking forward 100.000000 meters along route # Maximum depth: 3771.384317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3708.266606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006182; longitude = -108.822217; duration = 431; initialDepth = 3721.475760; finalDepth = 3708.266606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1005799999998 # Actual altitude: 51.1005799999998 # Commanded vehicle depth: 3708.266606 # Seafloor depth: -3758.266606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 105.342249 meters # Minimum depth: 3771.475760 meters looking forward 100.000000 meters along route # Maximum depth: 3777.425356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.475760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006519; longitude = -108.823211; duration = 421; initialDepth = 3727.982607; finalDepth = 3721.475760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3721.47576 # Seafloor depth: -3771.475760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.583494 meters # Minimum depth: 3777.982607 meters looking forward 100.000000 meters along route # Maximum depth: 3780.638587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.982607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006848; longitude = -108.824182; duration = 426; initialDepth = 3725.816308; finalDepth = 3727.982607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3727.982607 # Seafloor depth: -3777.982607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.583193 meters # Minimum depth: 3775.816308 meters looking forward 100.000000 meters along route # Maximum depth: 3778.675104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.816308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007181; longitude = -108.825165; duration = 426; initialDepth = 3727.495210; finalDepth = 3725.816308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.858796 # Actual altitude: 52.858796 # Commanded vehicle depth: 3725.816308 # Seafloor depth: -3778.675104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.582895 meters # Minimum depth: 3777.495210 meters looking forward 100.000000 meters along route # Maximum depth: 3780.876076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.495210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007514; longitude = -108.826148; duration = 426; initialDepth = 3728.948305; finalDepth = 3727.495210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.858796 # Actual altitude: 52.858796 # Commanded vehicle depth: 3727.49521 # Seafloor depth: -3777.495210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.582595 meters # Minimum depth: 3778.948305 meters looking forward 100.000000 meters along route # Maximum depth: 3783.412474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.948305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007847; longitude = -108.827130; duration = 426; initialDepth = 3734.273183; finalDepth = 3728.948305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3813920000002 # Actual altitude: 50.3813920000002 # Commanded vehicle depth: 3728.948305 # Seafloor depth: -3779.329697 # 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 47 # Segment length 106.582295 meters # Minimum depth: 3784.273183 meters looking forward 100.000000 meters along route # Maximum depth: 3786.967119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.273183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008180; longitude = -108.828113; duration = 426; initialDepth = 3736.894606; finalDepth = 3734.273183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3813920000002 # Actual altitude: 50.3813920000002 # Commanded vehicle depth: 3734.273183 # Seafloor depth: -3784.273183 # 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 47 # Segment length 106.581997 meters # Minimum depth: 3786.894606 meters looking forward 100.000000 meters along route # Maximum depth: 3788.955015 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.894606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008513; longitude = -108.829095; duration = 426; initialDepth = 3735.787040; finalDepth = 3736.894606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3736.894606 # Seafloor depth: -3786.894606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 106.581697 meters # Minimum depth: 3785.787040 meters looking forward 100.000000 meters along route # Maximum depth: 3788.274899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.787040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008845; longitude = -108.830078; duration = 426; initialDepth = 3735.503353; finalDepth = 3735.787040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4878589999998 # Actual altitude: 52.4878589999998 # Commanded vehicle depth: 3735.78704 # Seafloor depth: -3788.274899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.429059 meters # Minimum depth: 3785.503353 meters looking forward 100.000000 meters along route # Maximum depth: 3786.014939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.503353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009178; longitude = -108.831061; duration = 409; initialDepth = 3736.244169; finalDepth = 3735.503353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4878589999998 # Actual altitude: 52.4878589999998 # Commanded vehicle depth: 3735.503353 # Seafloor depth: -3785.924610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.075340 meters # Minimum depth: 3786.244169 meters looking forward 100.000000 meters along route # Maximum depth: 3787.425246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.244169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009498; longitude = -108.832005; duration = 400; initialDepth = 3736.654697; finalDepth = 3736.244169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.421257 # Actual altitude: 50.421257 # Commanded vehicle depth: 3736.244169 # Seafloor depth: -3786.244169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.253285 meters # Minimum depth: 3786.654697 meters looking forward 100.000000 meters along route # Maximum depth: 3787.081046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.654697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009811; longitude = -108.832928; duration = 409; initialDepth = 3737.130102; finalDepth = 3736.654697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3097520000001 # Actual altitude: 50.3097520000001 # Commanded vehicle depth: 3736.654697 # Seafloor depth: -3786.964449 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.250034 meters # Minimum depth: 3787.130102 meters looking forward 100.000000 meters along route # Maximum depth: 3789.099495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.130102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010130; longitude = -108.833870; duration = 401; initialDepth = 3739.355448; finalDepth = 3737.130102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3097520000001 # Actual altitude: 50.3097520000001 # Commanded vehicle depth: 3737.130102 # Seafloor depth: -3787.130102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.077512 meters # Minimum depth: 3789.355448 meters looking forward 100.000000 meters along route # Maximum depth: 3790.094440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.355448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010444; longitude = -108.834795; duration = 408; initialDepth = 3738.492885; finalDepth = 3739.355448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0216220000002 # Actual altitude: 50.0216220000002 # Commanded vehicle depth: 3739.355448 # Seafloor depth: -3789.377070 # 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 47 # Segment length 100.424727 meters # Minimum depth: 3788.492885 meters looking forward 100.000000 meters along route # Maximum depth: 3789.211942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.492885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010762; longitude = -108.835736; duration = 401; initialDepth = 3739.189839; finalDepth = 3738.492885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7190569999998 # Actual altitude: 50.7190569999998 # Commanded vehicle depth: 3738.492885 # Seafloor depth: -3789.211942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.901740 meters # Minimum depth: 3789.189839 meters looking forward 100.000000 meters along route # Maximum depth: 3790.077624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.189839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011076; longitude = -108.836662; duration = 407; initialDepth = 3738.432371; finalDepth = 3739.189839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7190569999998 # Actual altitude: 50.7190569999998 # Commanded vehicle depth: 3739.189839 # Seafloor depth: -3789.189839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.599419 meters # Minimum depth: 3788.432371 meters looking forward 100.000000 meters along route # Maximum depth: 3789.523942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.432371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011394; longitude = -108.837601; duration = 402; initialDepth = 3736.722579; finalDepth = 3738.432371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0915709999999 # Actual altitude: 51.0915709999999 # Commanded vehicle depth: 3738.432371 # Seafloor depth: -3789.523942 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.725971 meters # Minimum depth: 3786.722579 meters looking forward 100.000000 meters along route # Maximum depth: 3788.277723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.722579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011709; longitude = -108.838529; duration = 406; initialDepth = 3736.728646; finalDepth = 3736.722579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5551439999999 # Actual altitude: 51.5551439999999 # Commanded vehicle depth: 3736.722579 # Seafloor depth: -3788.277723 # 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 47 # Segment length 100.774108 meters # Minimum depth: 3786.728646 meters looking forward 100.000000 meters along route # Maximum depth: 3787.024964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.728646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012026; longitude = -108.839466; duration = 403; initialDepth = 3737.026398; finalDepth = 3736.728646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5551439999999 # Actual altitude: 51.5551439999999 # Commanded vehicle depth: 3736.728646 # Seafloor depth: -3786.728646 # 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 47 # Segment length 106.578555 meters # Minimum depth: 3787.026398 meters looking forward 100.000000 meters along route # Maximum depth: 3787.946566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.026398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012341; longitude = -108.840396; duration = 426; initialDepth = 3736.208048; finalDepth = 3737.026398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3737.026398 # Seafloor depth: -3787.026398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 110.585057 meters # Minimum depth: 3786.208048 meters looking forward 100.000000 meters along route # Maximum depth: 3787.993519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.208048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012674; longitude = -108.841378; duration = 442; initialDepth = 3736.322383; finalDepth = 3736.208048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7675939999999 # Actual altitude: 51.7675939999999 # Commanded vehicle depth: 3736.208048 # Seafloor depth: -3787.975642 # 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 47 # Segment length 106.099768 meters # Minimum depth: 3786.322383 meters looking forward 100.000000 meters along route # Maximum depth: 3789.145512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.322383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013020; longitude = -108.842398; duration = 424; initialDepth = 3737.377685; finalDepth = 3736.322383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.7675939999999 # Actual altitude: 51.7675939999999 # Commanded vehicle depth: 3736.322383 # Seafloor depth: -3786.322383 # 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; } # ####################################################### # # 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 139.359739 meters # Minimum depth: 3787.377685 meters looking forward 100.000000 meters along route # Maximum depth: 3789.080750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.377685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013351; longitude = -108.843376; duration = 557; # abortOnTimeout = True; initialDepth = 3737.340820; finalDepth = 3737.377685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.7030650000002 # Actual altitude: 51.7030650000002 # Commanded vehicle depth: 3737.377685 # Seafloor depth: -3789.080750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 166.090296 meters # Minimum depth: 3787.340820 meters looking forward 100.000000 meters along route # Maximum depth: 3789.913104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.340820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012177; longitude = -108.843868; duration = 664; # abortOnTimeout = True; initialDepth = 3738.177667; finalDepth = 3737.340820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7030650000002 # Actual altitude: 51.7030650000002 # Commanded vehicle depth: 3737.34082 # Seafloor depth: -3787.340820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 103.463456 meters # Minimum depth: 3788.177667 meters looking forward 100.000000 meters along route # Maximum depth: 3789.865190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.177667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011665; longitude = -108.842334; duration = 413; initialDepth = 3738.092487; finalDepth = 3738.177667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6875230000001 # Actual altitude: 51.6875230000001 # Commanded vehicle depth: 3738.177667 # Seafloor depth: -3789.865190 # 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 45 # Segment length 101.663703 meters # Minimum depth: 3788.092487 meters looking forward 100.000000 meters along route # Maximum depth: 3788.928592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.092487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011346; longitude = -108.841378; duration = 406; initialDepth = 3739.001129; finalDepth = 3738.092487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6875230000001 # Actual altitude: 51.6875230000001 # Commanded vehicle depth: 3738.092487 # Seafloor depth: -3788.098578 # 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 45 # Segment length 100.464985 meters # Minimum depth: 3789.001129 meters looking forward 100.000000 meters along route # Maximum depth: 3789.371743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.001129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011033; longitude = -108.840439; duration = 401; initialDepth = 3739.275752; finalDepth = 3739.001129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0060910000002 # Actual altitude: 50.0060910000002 # Commanded vehicle depth: 3739.001129 # Seafloor depth: -3789.001129 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.383949 meters # Minimum depth: 3789.275752 meters looking forward 100.000000 meters along route # Maximum depth: 3790.240677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.275752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010724; longitude = -108.839511; duration = 425; initialDepth = 3740.249840; finalDepth = 3739.275752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3739.275752 # Seafloor depth: -3789.275752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.384245 meters # Minimum depth: 3790.249840 meters looking forward 100.000000 meters along route # Maximum depth: 3790.450333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.249840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010396; longitude = -108.838529; duration = 425; initialDepth = 3739.576050; finalDepth = 3740.249840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3740.24984 # Seafloor depth: -3790.249840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.384541 meters # Minimum depth: 3789.576050 meters looking forward 100.000000 meters along route # Maximum depth: 3790.338194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.576050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010068; longitude = -108.837546; duration = 425; initialDepth = 3739.640752; finalDepth = 3739.576050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7621439999998 # Actual altitude: 50.7621439999998 # Commanded vehicle depth: 3739.57605 # Seafloor depth: -3790.338194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.857167 meters # Minimum depth: 3789.640752 meters looking forward 100.000000 meters along route # Maximum depth: 3791.636628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.640752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009740; longitude = -108.836563; duration = 431; initialDepth = 3738.917695; finalDepth = 3739.640752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7621439999998 # Actual altitude: 50.7621439999998 # Commanded vehicle depth: 3739.640752 # Seafloor depth: -3789.640752 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 104.912801 meters # Minimum depth: 3788.917695 meters looking forward 100.000000 meters along route # Maximum depth: 3791.624078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.917695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009408; longitude = -108.835567; duration = 419; initialDepth = 3738.720510; finalDepth = 3738.917695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7063829999997 # Actual altitude: 52.7063829999997 # Commanded vehicle depth: 3738.917695 # Seafloor depth: -3791.624078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.218286 meters # Minimum depth: 3788.720510 meters looking forward 100.000000 meters along route # Maximum depth: 3790.362681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.720510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009085; longitude = -108.834598; duration = 400; initialDepth = 3740.447756; finalDepth = 3738.720510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7063829999997 # Actual altitude: 52.7063829999997 # Commanded vehicle depth: 3738.72051 # Seafloor depth: -3788.785479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.914281 meters # Minimum depth: 3790.447756 meters looking forward 100.000000 meters along route # Maximum depth: 3791.068705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.447756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008776; longitude = -108.833672; duration = 407; initialDepth = 3737.172999; finalDepth = 3740.447756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.064969 # Actual altitude: 50.064969 # Commanded vehicle depth: 3740.447756 # Seafloor depth: -3790.447756 # 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 45 # Segment length 106.385990 meters # Minimum depth: 3787.172999 meters looking forward 100.000000 meters along route # Maximum depth: 3790.645113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.172999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008462; longitude = -108.832731; duration = 425; initialDepth = 3734.652389; finalDepth = 3737.172999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4721140000001 # Actual altitude: 53.4721140000001 # Commanded vehicle depth: 3737.172999 # Seafloor depth: -3790.645113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.386286 meters # Minimum depth: 3784.652389 meters looking forward 100.000000 meters along route # Maximum depth: 3787.122057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.652389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008134; longitude = -108.831748; duration = 425; initialDepth = 3732.551616; finalDepth = 3734.652389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4721140000001 # Actual altitude: 53.4721140000001 # Commanded vehicle depth: 3734.652389 # Seafloor depth: -3787.122057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.386582 meters # Minimum depth: 3782.551616 meters looking forward 100.000000 meters along route # Maximum depth: 3784.223667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.551616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007807; longitude = -108.830766; duration = 425; initialDepth = 3730.979707; finalDepth = 3732.551616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4696680000002 # Actual altitude: 52.4696680000002 # Commanded vehicle depth: 3732.551616 # Seafloor depth: -3784.223667 # 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 45 # Segment length 106.411849 meters # Minimum depth: 3780.979707 meters looking forward 100.000000 meters along route # Maximum depth: 3782.496837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.979707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007479; longitude = -108.829783; duration = 425; initialDepth = 3725.305092; finalDepth = 3730.979707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.672051 # Actual altitude: 51.672051 # Commanded vehicle depth: 3730.979707 # Seafloor depth: -3782.496837 # 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 45 # Segment length 106.362203 meters # Minimum depth: 3775.305092 meters looking forward 100.000000 meters along route # Maximum depth: 3780.978925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.305092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007151; longitude = -108.828800; duration = 425; initialDepth = 3725.219030; finalDepth = 3725.305092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6738329999998 # Actual altitude: 55.6738329999998 # Commanded vehicle depth: 3725.305092 # Seafloor depth: -3780.978925 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.387470 meters # Minimum depth: 3775.219030 meters looking forward 100.000000 meters along route # Maximum depth: 3784.512527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.219030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006823; longitude = -108.827818; duration = 425; initialDepth = 3731.076511; finalDepth = 3725.219030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6738329999998 # Actual altitude: 55.6738329999998 # Commanded vehicle depth: 3725.21903 # Seafloor depth: -3775.219030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 109.605846 meters # Minimum depth: 3781.076511 meters looking forward 100.000000 meters along route # Maximum depth: 3786.104090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.076511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006495; longitude = -108.826835; duration = 438; initialDepth = 3729.691329; finalDepth = 3731.076511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.037879 # Actual altitude: 54.037879 # Commanded vehicle depth: 3731.076511 # Seafloor depth: -3785.114390 # 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 45 # Segment length 103.169982 meters # Minimum depth: 3779.691329 meters looking forward 100.000000 meters along route # Maximum depth: 3780.869646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.691329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006158; longitude = -108.825823; duration = 412; initialDepth = 3727.598561; finalDepth = 3729.691329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.037879 # Actual altitude: 54.037879 # Commanded vehicle depth: 3729.691329 # Seafloor depth: -3780.869646 # 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 45 # Segment length 106.388358 meters # Minimum depth: 3777.598561 meters looking forward 100.000000 meters along route # Maximum depth: 3779.776236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.598561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005840; longitude = -108.824870; duration = 425; initialDepth = 3716.553747; finalDepth = 3727.598561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1776750000004 # Actual altitude: 52.1776750000004 # Commanded vehicle depth: 3727.598561 # Seafloor depth: -3779.776236 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.388654 meters # Minimum depth: 3766.553747 meters looking forward 100.000000 meters along route # Maximum depth: 3777.231357 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.553747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005512; longitude = -108.823887; duration = 425; initialDepth = 3706.104225; finalDepth = 3716.553747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6776100000002 # Actual altitude: 60.6776100000002 # Commanded vehicle depth: 3716.553747 # Seafloor depth: -3777.231357 # 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 45 # Segment length 106.388951 meters # Minimum depth: 3756.104225 meters looking forward 100.000000 meters along route # Maximum depth: 3765.631598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.104225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005184; longitude = -108.822905; duration = 425; initialDepth = 3703.311909; finalDepth = 3706.104225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.6776100000002 # Actual altitude: 60.6776100000002 # Commanded vehicle depth: 3706.104225 # Seafloor depth: -3765.631598 # 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 45 # Segment length 106.389246 meters # Minimum depth: 3753.311909 meters looking forward 100.000000 meters along route # Maximum depth: 3756.229011 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3703.311909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004857; longitude = -108.821922; duration = 425; initialDepth = 3706.112262; finalDepth = 3703.311909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5273729999999 # Actual altitude: 59.5273729999999 # Commanded vehicle depth: 3703.311909 # Seafloor depth: -3755.214736 # 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 45 # Segment length 106.389543 meters # Minimum depth: 3756.112262 meters looking forward 100.000000 meters along route # Maximum depth: 3758.394891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.112262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004529; longitude = -108.820940; duration = 425; initialDepth = 3706.052730; finalDepth = 3706.112262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9028269999999 # Actual altitude: 51.9028269999999 # Commanded vehicle depth: 3706.112262 # Seafloor depth: -3756.313864 # 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 45 # Segment length 106.389839 meters # Minimum depth: 3756.052730 meters looking forward 100.000000 meters along route # Maximum depth: 3767.161236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.052730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004201; longitude = -108.819957; duration = 425; initialDepth = 3706.498095; finalDepth = 3706.052730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2016020000001 # Actual altitude: 50.2016020000001 # Commanded vehicle depth: 3706.05273 # Seafloor depth: -3756.052730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 108.354826 meters # Minimum depth: 3756.498095 meters looking forward 100.000000 meters along route # Maximum depth: 3767.773784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.498095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003873; longitude = -108.818974; duration = 433; initialDepth = 3679.747688; finalDepth = 3706.498095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0956959999999 # Actual altitude: 61.0956959999999 # Commanded vehicle depth: 3706.498095 # Seafloor depth: -3767.593791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 104.425740 meters # Minimum depth: 3729.747688 meters looking forward 100.000000 meters along route # Maximum depth: 3755.955873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3679.747688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003539; longitude = -108.817974; duration = 417; initialDepth = 3662.686961; finalDepth = 3679.747688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.208185 # Actual altitude: 76.208185 # Commanded vehicle depth: 3679.747688 # Seafloor depth: -3755.955873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.390728 meters # Minimum depth: 3712.686961 meters looking forward 100.000000 meters along route # Maximum depth: 3727.533776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3662.686961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003218; longitude = -108.817009; duration = 425; initialDepth = 3649.375878; finalDepth = 3662.686961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.208185 # Actual altitude: 76.208185 # Commanded vehicle depth: 3662.686961 # Seafloor depth: -3727.533776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 106.391023 meters # Minimum depth: 3699.375878 meters looking forward 100.000000 meters along route # Maximum depth: 3712.112907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3649.375878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002890; longitude = -108.816026; duration = 425; initialDepth = 3637.542101; finalDepth = 3649.375878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8468150000003 # Actual altitude: 64.8468150000003 # Commanded vehicle depth: 3649.375878 # Seafloor depth: -3712.112907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 102.844939 meters # Minimum depth: 3687.542101 meters looking forward 100.000000 meters along route # Maximum depth: 3697.452292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.542101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002562; longitude = -108.815044; duration = 411; initialDepth = 3637.327474; finalDepth = 3637.542101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.7370290000003 # Actual altitude: 62.7370290000003 # Commanded vehicle depth: 3637.542101 # Seafloor depth: -3697.452292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 137.464880 meters # Minimum depth: 3687.327474 meters looking forward 100.000000 meters along route # Maximum depth: 3700.839722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3637.327474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002245; longitude = -108.814094; duration = 549; # abortOnTimeout = True; initialDepth = 3650.839722; finalDepth = 3637.327474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.9101909999999 # Actual altitude: 59.9101909999999 # Commanded vehicle depth: 3637.327474 # Seafloor depth: -3687.327474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.96; 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 43 # Segment length 88.634645 meters # Minimum depth: 3700.839722 meters looking forward 100.000000 meters along route # Maximum depth: 3709.370989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.839722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001041; longitude = -108.814422; duration = 354; # abortOnTimeout = True; initialDepth = 3660.760640; finalDepth = 3650.839722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7921139999999 # Actual altitude: 50.7921139999999 # Commanded vehicle depth: 3650.839722 # Seafloor depth: -3701.631836 # 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 107.168745 meters # Minimum depth: 3710.760640 meters looking forward 100.000000 meters along route # Maximum depth: 3723.747864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3660.760640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001314; longitude = -108.815240; duration = 428; initialDepth = 3673.794461; finalDepth = 3660.760640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7921139999999 # Actual altitude: 50.7921139999999 # Commanded vehicle depth: 3660.76064 # Seafloor depth: -3710.760640 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.553565 meters # Minimum depth: 3723.794461 meters looking forward 100.000000 meters along route # Maximum depth: 3731.097722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3673.794461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001643; longitude = -108.816230; duration = 422; initialDepth = 3682.709341; finalDepth = 3673.794461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3673.794461 # Seafloor depth: -3723.794461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.038915 meters # Minimum depth: 3732.709341 meters looking forward 100.000000 meters along route # Maximum depth: 3756.838763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3682.709341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001968; longitude = -108.817206; duration = 400; initialDepth = 3707.923137; finalDepth = 3682.709341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3682.709341 # Seafloor depth: -3732.709341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.046184 meters # Minimum depth: 3757.923137 meters looking forward 100.000000 meters along route # Maximum depth: 3769.167006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3707.923137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002275; longitude = -108.818130; duration = 408; initialDepth = 3719.326206; finalDepth = 3707.923137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3707.923137 # Seafloor depth: -3757.923137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.360150 meters # Minimum depth: 3769.326206 meters looking forward 100.000000 meters along route # Maximum depth: 3769.581301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.326206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002589; longitude = -108.819073; duration = 425; initialDepth = 3713.365201; finalDepth = 3719.326206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0135169999999 # Actual altitude: 50.0135169999999 # Commanded vehicle depth: 3719.326206 # Seafloor depth: -3769.339723 # 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 43 # Segment length 106.359854 meters # Minimum depth: 3763.365201 meters looking forward 100.000000 meters along route # Maximum depth: 3769.582824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3713.365201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002916; longitude = -108.820055; duration = 425; initialDepth = 3706.453732; finalDepth = 3713.365201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.217623 # Actual altitude: 56.217623 # Commanded vehicle depth: 3713.365201 # Seafloor depth: -3769.582824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.359558 meters # Minimum depth: 3756.453732 meters looking forward 100.000000 meters along route # Maximum depth: 3762.199039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.453732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003243; longitude = -108.821038; duration = 425; initialDepth = 3707.857854; finalDepth = 3706.453732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.217623 # Actual altitude: 56.217623 # Commanded vehicle depth: 3706.453732 # Seafloor depth: -3762.199039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 107.535558 meters # Minimum depth: 3757.857854 meters looking forward 100.000000 meters along route # Maximum depth: 3775.174048 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3707.857854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003570; longitude = -108.822021; duration = 430; initialDepth = 3725.300624; finalDepth = 3707.857854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7453070000001 # Actual altitude: 55.7453070000001 # Commanded vehicle depth: 3707.857854 # Seafloor depth: -3757.857854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 105.182672 meters # Minimum depth: 3775.300624 meters looking forward 100.000000 meters along route # Maximum depth: 3779.041883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.300624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003901; longitude = -108.823014; duration = 420; initialDepth = 3725.140343; finalDepth = 3725.300624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3725.300624 # Seafloor depth: -3775.300624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.405863 meters # Minimum depth: 3775.140343 meters looking forward 100.000000 meters along route # Maximum depth: 3778.453552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.140343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004224; longitude = -108.823986; duration = 401; initialDepth = 3725.101467; finalDepth = 3725.140343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3132089999999 # Actual altitude: 53.3132089999999 # Commanded vehicle depth: 3725.140343 # Seafloor depth: -3778.453552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 101.675361 meters # Minimum depth: 3775.101467 meters looking forward 100.000000 meters along route # Maximum depth: 3778.458214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.101467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004533; longitude = -108.824913; duration = 406; initialDepth = 3729.088126; finalDepth = 3725.101467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3132089999999 # Actual altitude: 53.3132089999999 # Commanded vehicle depth: 3725.101467 # Seafloor depth: -3775.101467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.358110 meters # Minimum depth: 3779.088126 meters looking forward 100.000000 meters along route # Maximum depth: 3784.040536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.088126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004845; longitude = -108.825853; duration = 425; initialDepth = 3729.996313; finalDepth = 3729.088126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3729.088126 # Seafloor depth: -3779.088126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.357814 meters # Minimum depth: 3779.996313 meters looking forward 100.000000 meters along route # Maximum depth: 3784.043989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.996313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005172; longitude = -108.826835; duration = 425; initialDepth = 3728.497464; finalDepth = 3729.996313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0476759999997 # Actual altitude: 54.0476759999997 # Commanded vehicle depth: 3729.996313 # Seafloor depth: -3784.043989 # 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 43 # Segment length 106.357520 meters # Minimum depth: 3778.497464 meters looking forward 100.000000 meters along route # Maximum depth: 3780.370958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.497464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005499; longitude = -108.827818; duration = 425; initialDepth = 3731.010689; finalDepth = 3728.497464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0476759999997 # Actual altitude: 54.0476759999997 # Commanded vehicle depth: 3728.497464 # Seafloor depth: -3779.582293 # 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 43 # Segment length 107.902358 meters # Minimum depth: 3781.010689 meters looking forward 100.000000 meters along route # Maximum depth: 3788.449574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.010689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005826; longitude = -108.828801; duration = 431; initialDepth = 3736.917787; finalDepth = 3731.010689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0848289999999 # Actual altitude: 51.0848289999999 # Commanded vehicle depth: 3731.010689 # Seafloor depth: -3781.010689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 104.811794 meters # Minimum depth: 3786.917787 meters looking forward 100.000000 meters along route # Maximum depth: 3789.006156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.917787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006158; longitude = -108.829798; duration = 419; initialDepth = 3735.508906; finalDepth = 3736.917787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.582253 # Actual altitude: 51.582253 # Commanded vehicle depth: 3736.917787 # Seafloor depth: -3788.500040 # 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 43 # Segment length 100.772798 meters # Minimum depth: 3785.508906 meters looking forward 100.000000 meters along route # Maximum depth: 3786.503982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.508906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006480; longitude = -108.830766; duration = 403; initialDepth = 3735.581066; finalDepth = 3735.508906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.582253 # Actual altitude: 51.582253 # Commanded vehicle depth: 3735.508906 # Seafloor depth: -3786.503982 # 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 43 # Segment length 101.304552 meters # Minimum depth: 3785.581066 meters looking forward 100.000000 meters along route # Maximum depth: 3787.772530 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.581066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006790; longitude = -108.831697; duration = 405; initialDepth = 3738.046184; finalDepth = 3735.581066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9950760000002 # Actual altitude: 50.9950760000002 # Commanded vehicle depth: 3735.581066 # Seafloor depth: -3785.581066 # 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 43 # Segment length 106.356072 meters # Minimum depth: 3788.046184 meters looking forward 100.000000 meters along route # Maximum depth: 3789.382058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.046184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007101; longitude = -108.832633; duration = 425; initialDepth = 3739.396246; finalDepth = 3738.046184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3738.046184 # Seafloor depth: -3788.046184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.355776 meters # Minimum depth: 3789.396246 meters looking forward 100.000000 meters along route # Maximum depth: 3791.172168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.396246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007428; longitude = -108.833615; duration = 425; initialDepth = 3741.265176; finalDepth = 3739.396246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3739.396246 # Seafloor depth: -3789.396246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.355481 meters # Minimum depth: 3791.265176 meters looking forward 100.000000 meters along route # Maximum depth: 3792.109663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.265176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007755; longitude = -108.834598; duration = 425; initialDepth = 3739.685674; finalDepth = 3741.265176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2485030000003 # Actual altitude: 50.2485030000003 # Commanded vehicle depth: 3741.265176 # Seafloor depth: -3791.513679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 108.269147 meters # Minimum depth: 3789.685674 meters looking forward 100.000000 meters along route # Maximum depth: 3791.132943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.685674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008082; longitude = -108.835581; duration = 433; initialDepth = 3739.781587; finalDepth = 3739.685674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4472690000002 # Actual altitude: 51.4472690000002 # Commanded vehicle depth: 3739.685674 # Seafloor depth: -3791.132943 # 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 43 # Segment length 104.440930 meters # Minimum depth: 3789.781587 meters looking forward 100.000000 meters along route # Maximum depth: 3790.728897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.781587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008415; longitude = -108.836581; duration = 417; initialDepth = 3740.855057; finalDepth = 3739.781587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4472690000002 # Actual altitude: 51.4472690000002 # Commanded vehicle depth: 3739.781587 # Seafloor depth: -3789.781587 # 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 43 # Segment length 101.139721 meters # Minimum depth: 3790.855057 meters looking forward 100.000000 meters along route # Maximum depth: 3791.444711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.855057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008736; longitude = -108.837546; duration = 404; initialDepth = 3739.941611; finalDepth = 3740.855057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3740.855057 # Seafloor depth: -3790.855057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.933758 meters # Minimum depth: 3789.941611 meters looking forward 100.000000 meters along route # Maximum depth: 3791.005545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.941611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009047; longitude = -108.838480; duration = 403; initialDepth = 3739.280165; finalDepth = 3739.941611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0639339999998 # Actual altitude: 51.0639339999998 # Commanded vehicle depth: 3739.941611 # Seafloor depth: -3791.005545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.354034 meters # Minimum depth: 3789.280165 meters looking forward 100.000000 meters along route # Maximum depth: 3789.985729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.280165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009357; longitude = -108.839413; duration = 425; initialDepth = 3738.385511; finalDepth = 3739.280165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0639339999998 # Actual altitude: 51.0639339999998 # Commanded vehicle depth: 3739.280165 # Seafloor depth: -3789.972539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.353740 meters # Minimum depth: 3788.385511 meters looking forward 100.000000 meters along route # Maximum depth: 3789.249673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.385511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009684; longitude = -108.840396; duration = 425; initialDepth = 3738.555984; finalDepth = 3738.385511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8641619999999 # Actual altitude: 50.8641619999999 # Commanded vehicle depth: 3738.385511 # Seafloor depth: -3789.249673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 106.353444 meters # Minimum depth: 3788.555984 meters looking forward 100.000000 meters along route # Maximum depth: 3789.666079 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.555984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010011; longitude = -108.841378; duration = 425; initialDepth = 3738.167385; finalDepth = 3738.555984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8641619999999 # Actual altitude: 50.8641619999999 # Commanded vehicle depth: 3738.555984 # Seafloor depth: -3788.555984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 108.635921 meters # Minimum depth: 3788.167385 meters looking forward 100.000000 meters along route # Maximum depth: 3790.236528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.167385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010338; longitude = -108.842361; duration = 434; initialDepth = 3737.042879; finalDepth = 3738.167385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6772189999997 # Actual altitude: 51.6772189999997 # Commanded vehicle depth: 3738.167385 # Seafloor depth: -3789.844604 # 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 43 # Segment length 107.631830 meters # Minimum depth: 3787.042879 meters looking forward 100.000000 meters along route # Maximum depth: 3788.068976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.042879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010672; longitude = -108.843365; duration = 430; initialDepth = 3738.031006; finalDepth = 3737.042879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.6772189999997 # Actual altitude: 51.6772189999997 # Commanded vehicle depth: 3737.042879 # Seafloor depth: -3788.068976 # 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; } # ####################################################### # # 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 134.334763 meters # Minimum depth: 3788.031006 meters looking forward 100.000000 meters along route # Maximum depth: 3789.338678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.031006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011003; longitude = -108.844359; duration = 537; # abortOnTimeout = True; initialDepth = 3738.579167; finalDepth = 3738.031006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.0260969999999 # Actual altitude: 51.0260969999999 # Commanded vehicle depth: 3738.031006 # Seafloor depth: -3788.031006 # 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; } # ####################################################### # # 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 128.587976 meters # Minimum depth: 3788.579167 meters looking forward 100.000000 meters along route # Maximum depth: 3789.921855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.579167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009890; longitude = -108.844883; duration = 514; # abortOnTimeout = True; initialDepth = 3740.056745; finalDepth = 3738.579167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.763179 # Actual altitude: 50.763179 # Commanded vehicle depth: 3738.579167 # Seafloor depth: -3789.342346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.574207 meters # Minimum depth: 3790.056745 meters looking forward 100.000000 meters along route # Maximum depth: 3790.864989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.056745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009498; longitude = -108.843693; duration = 406; initialDepth = 3740.316122; finalDepth = 3740.056745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.763179 # Actual altitude: 50.763179 # Commanded vehicle depth: 3740.056745 # Seafloor depth: -3790.056745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.224811 meters # Minimum depth: 3790.316122 meters looking forward 100.000000 meters along route # Maximum depth: 3791.254496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.316122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009189; longitude = -108.842754; duration = 424; initialDepth = 3740.067005; finalDepth = 3740.316122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0742479999999 # Actual altitude: 50.0742479999999 # Commanded vehicle depth: 3740.316122 # Seafloor depth: -3790.390370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.225104 meters # Minimum depth: 3790.067005 meters looking forward 100.000000 meters along route # Maximum depth: 3791.123214 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.067005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008866; longitude = -108.841771; duration = 424; initialDepth = 3739.851436; finalDepth = 3740.067005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0562090000003 # Actual altitude: 51.0562090000003 # Commanded vehicle depth: 3740.067005 # Seafloor depth: -3791.123214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.010963 meters # Minimum depth: 3789.851436 meters looking forward 100.000000 meters along route # Maximum depth: 3790.366130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.851436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008542; longitude = -108.840789; duration = 404; initialDepth = 3739.417418; finalDepth = 3739.851436; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0562090000003 # Actual altitude: 51.0562090000003 # Commanded vehicle depth: 3739.851436 # Seafloor depth: -3790.233095 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.817541 meters # Minimum depth: 3789.417418 meters looking forward 100.000000 meters along route # Maximum depth: 3789.820549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.417418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008234; longitude = -108.839854; duration = 403; initialDepth = 3740.046255; finalDepth = 3739.417418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3842009999998 # Actual altitude: 50.3842009999998 # Commanded vehicle depth: 3739.417418 # Seafloor depth: -3789.801619 # 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 41 # Segment length 106.701678 meters # Minimum depth: 3790.046255 meters looking forward 100.000000 meters along route # Maximum depth: 3791.314270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.046255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007927; longitude = -108.838922; duration = 426; initialDepth = 3740.880590; finalDepth = 3740.046255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3842009999998 # Actual altitude: 50.3842009999998 # Commanded vehicle depth: 3740.046255 # Seafloor depth: -3790.046255 # 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 41 # Segment length 105.750521 meters # Minimum depth: 3790.880590 meters looking forward 100.000000 meters along route # Maximum depth: 3791.401278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.880590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007602; longitude = -108.837935; duration = 423; initialDepth = 3739.872195; finalDepth = 3740.880590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1320139999998 # Actual altitude: 50.1320139999998 # Commanded vehicle depth: 3740.88059 # Seafloor depth: -3791.012604 # 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 41 # Segment length 101.769816 meters # Minimum depth: 3789.872195 meters looking forward 100.000000 meters along route # Maximum depth: 3791.268532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.872195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007280; longitude = -108.836956; duration = 407; initialDepth = 3740.340603; finalDepth = 3739.872195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3963370000001 # Actual altitude: 51.3963370000001 # Commanded vehicle depth: 3739.872195 # Seafloor depth: -3791.268532 # 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 41 # Segment length 100.060858 meters # Minimum depth: 3790.340603 meters looking forward 100.000000 meters along route # Maximum depth: 3791.414017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.340603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006970; longitude = -108.836015; duration = 400; initialDepth = 3740.656626; finalDepth = 3740.340603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3963370000001 # Actual altitude: 51.3963370000001 # Commanded vehicle depth: 3740.340603 # Seafloor depth: -3790.340603 # 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 41 # Segment length 107.460598 meters # Minimum depth: 3790.656626 meters looking forward 100.000000 meters along route # Maximum depth: 3792.047894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.656626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006666; longitude = -108.835089; duration = 429; initialDepth = 3740.026717; finalDepth = 3740.656626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3821819999998 # Actual altitude: 50.3821819999998 # Commanded vehicle depth: 3740.656626 # Seafloor depth: -3791.038808 # 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 41 # Segment length 104.993886 meters # Minimum depth: 3790.026717 meters looking forward 100.000000 meters along route # Maximum depth: 3792.187947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.026717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006338; longitude = -108.834095; duration = 419; initialDepth = 3738.004519; finalDepth = 3740.026717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0286169999999 # Actual altitude: 52.0286169999999 # Commanded vehicle depth: 3740.026717 # Seafloor depth: -3792.055334 # 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 41 # Segment length 106.227682 meters # Minimum depth: 3788.004519 meters looking forward 100.000000 meters along route # Maximum depth: 3789.610104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.004519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006019; longitude = -108.833124; duration = 424; initialDepth = 3738.094677; finalDepth = 3738.004519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0286169999999 # Actual altitude: 52.0286169999999 # Commanded vehicle depth: 3738.004519 # Seafloor depth: -3789.610104 # 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 41 # Segment length 106.227975 meters # Minimum depth: 3788.094677 meters looking forward 100.000000 meters along route # Maximum depth: 3788.674549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.094677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005695; longitude = -108.832142; duration = 424; initialDepth = 3734.260820; finalDepth = 3738.094677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6055849999998 # Actual altitude: 51.6055849999998 # Commanded vehicle depth: 3738.094677 # Seafloor depth: -3788.094677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.228268 meters # Minimum depth: 3784.260820 meters looking forward 100.000000 meters along route # Maximum depth: 3788.318287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.260820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005372; longitude = -108.831159; duration = 424; initialDepth = 3732.318622; finalDepth = 3734.260820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0574670000001 # Actual altitude: 54.0574670000001 # Commanded vehicle depth: 3734.26082 # Seafloor depth: -3788.318287 # 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 41 # Segment length 109.953923 meters # Minimum depth: 3782.318622 meters looking forward 100.000000 meters along route # Maximum depth: 3783.909020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.318622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005048; longitude = -108.830176; duration = 439; initialDepth = 3732.690392; finalDepth = 3732.318622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0574670000001 # Actual altitude: 54.0574670000001 # Commanded vehicle depth: 3732.318622 # Seafloor depth: -3783.909020 # 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 41 # Segment length 102.503492 meters # Minimum depth: 3782.690392 meters looking forward 100.000000 meters along route # Maximum depth: 3783.835087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.690392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004713; longitude = -108.829159; duration = 410; initialDepth = 3733.840043; finalDepth = 3732.690392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5903980000003 # Actual altitude: 51.5903980000003 # Commanded vehicle depth: 3732.690392 # Seafloor depth: -3782.690392 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.229147 meters # Minimum depth: 3783.840043 meters looking forward 100.000000 meters along route # Maximum depth: 3784.900391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.840043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004401; longitude = -108.828211; duration = 424; initialDepth = 3727.749592; finalDepth = 3733.840043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3733.840043 # Seafloor depth: -3783.840043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.229441 meters # Minimum depth: 3777.749592 meters looking forward 100.000000 meters along route # Maximum depth: 3784.750016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.749592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004077; longitude = -108.827228; duration = 424; initialDepth = 3725.341154; finalDepth = 3727.749592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0004239999998 # Actual altitude: 57.0004239999998 # Commanded vehicle depth: 3727.749592 # Seafloor depth: -3784.750016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.089938 meters # Minimum depth: 3775.341154 meters looking forward 100.000000 meters along route # Maximum depth: 3777.345213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.341154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003754; longitude = -108.826246; duration = 400; initialDepth = 3727.188275; finalDepth = 3725.341154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0004239999998 # Actual altitude: 57.0004239999998 # Commanded vehicle depth: 3725.341154 # Seafloor depth: -3776.817073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.746806 meters # Minimum depth: 3777.188275 meters looking forward 100.000000 meters along route # Maximum depth: 3777.932892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.188275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003449; longitude = -108.825320; duration = 406; initialDepth = 3725.118881; finalDepth = 3727.188275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.475919 # Actual altitude: 51.475919 # Commanded vehicle depth: 3727.188275 # Seafloor depth: -3777.508420 # 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 41 # Segment length 106.230291 meters # Minimum depth: 3775.118881 meters looking forward 100.000000 meters along route # Maximum depth: 3777.064407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.118881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003139; longitude = -108.824379; duration = 424; initialDepth = 3717.916408; finalDepth = 3725.118881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.945526 # Actual altitude: 51.945526 # Commanded vehicle depth: 3725.118881 # Seafloor depth: -3777.064407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.230584 meters # Minimum depth: 3767.916408 meters looking forward 100.000000 meters along route # Maximum depth: 3775.099280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.916408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002816; longitude = -108.823396; duration = 424; initialDepth = 3716.631400; finalDepth = 3717.916408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1828719999999 # Actual altitude: 57.1828719999999 # Commanded vehicle depth: 3717.916408 # Seafloor depth: -3775.099280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.848814 meters # Minimum depth: 3766.631400 meters looking forward 100.000000 meters along route # Maximum depth: 3767.394032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.631400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002492; longitude = -108.822414; duration = 403; initialDepth = 3717.098585; finalDepth = 3716.631400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1828719999999 # Actual altitude: 57.1828719999999 # Commanded vehicle depth: 3716.6314 # Seafloor depth: -3767.394032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.990104 meters # Minimum depth: 3767.098585 meters looking forward 100.000000 meters along route # Maximum depth: 3769.522756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3717.098585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002185; longitude = -108.821481; duration = 403; initialDepth = 3718.742139; finalDepth = 3717.098585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7626319999999 # Actual altitude: 50.7626319999999 # Commanded vehicle depth: 3717.098585 # Seafloor depth: -3767.098585 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.539823 meters # Minimum depth: 3768.742139 meters looking forward 100.000000 meters along route # Maximum depth: 3769.739731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3718.742139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001878; longitude = -108.820547; duration = 426; initialDepth = 3713.208610; finalDepth = 3718.742139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7161630000001 # Actual altitude: 50.7161630000001 # Commanded vehicle depth: 3718.742139 # Seafloor depth: -3769.458302 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 105.923340 meters # Minimum depth: 3763.208610 meters looking forward 100.000000 meters along route # Maximum depth: 3770.118130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3713.208610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001553; longitude = -108.819561; duration = 423; initialDepth = 3696.817797; finalDepth = 3713.208610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.53874 # Actual altitude: 56.53874 # Commanded vehicle depth: 3713.20861 # Seafloor depth: -3769.747350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.607706 meters # Minimum depth: 3746.817797 meters looking forward 100.000000 meters along route # Maximum depth: 3761.183314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.817797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001231; longitude = -108.818581; duration = 406; initialDepth = 3687.555988; finalDepth = 3696.817797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3655169999997 # Actual altitude: 64.3655169999997 # Commanded vehicle depth: 3696.817797 # Seafloor depth: -3761.183314 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.233386 meters # Minimum depth: 3737.555988 meters looking forward 100.000000 meters along route # Maximum depth: 3746.242139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3687.555988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000921; longitude = -108.817641; duration = 400; initialDepth = 3677.673504; finalDepth = 3687.555988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3655169999997 # Actual altitude: 64.3655169999997 # Commanded vehicle depth: 3687.555988 # Seafloor depth: -3746.242139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 107.298780 meters # Minimum depth: 3727.673504 meters looking forward 100.000000 meters along route # Maximum depth: 3736.713065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.673504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000616; longitude = -108.816714; duration = 429; initialDepth = 3665.520121; finalDepth = 3677.673504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.039561 # Actual altitude: 59.039561 # Commanded vehicle depth: 3677.673504 # Seafloor depth: -3736.713065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.707772 meters # Minimum depth: 3715.520121 meters looking forward 100.000000 meters along route # Maximum depth: 3727.546067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.520121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000289; longitude = -108.815722; duration = 434; initialDepth = 3665.136393; finalDepth = 3665.520121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.0259460000002 # Actual altitude: 62.0259460000002 # Commanded vehicle depth: 3665.520121 # Seafloor depth: -3727.546067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 136.041895 meters # Minimum depth: 3715.136393 meters looking forward 100.000000 meters along route # Maximum depth: 3741.577355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3665.136393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999958; longitude = -108.814716; duration = 544; # abortOnTimeout = True; initialDepth = 3689.744047; finalDepth = 3665.136393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.0259460000002 # Actual altitude: 62.0259460000002 # Commanded vehicle depth: 3665.136393 # Seafloor depth: -3715.136393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 78.775272 meters # Minimum depth: 3739.744047 meters looking forward 100.000000 meters along route # Maximum depth: 3745.879306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3689.744047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998784; longitude = -108.815109; duration = 315; # abortOnTimeout = True; initialDepth = 3692.948473; finalDepth = 3689.744047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9082969999999 # Actual altitude: 52.9082969999999 # Commanded vehicle depth: 3689.744047 # Seafloor depth: -3742.652344 # 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 39 # Segment length 105.448923 meters # Minimum depth: 3742.948473 meters looking forward 100.000000 meters along route # Maximum depth: 3744.993379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3692.948473 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999025; longitude = -108.815838; duration = 421; initialDepth = 3695.561400; finalDepth = 3692.948473; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9082969999999 # Actual altitude: 52.9082969999999 # Commanded vehicle depth: 3692.948473 # Seafloor depth: -3744.048831 # 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 39 # Segment length 106.282787 meters # Minimum depth: 3745.561400 meters looking forward 100.000000 meters along route # Maximum depth: 3748.819831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3695.561400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999347; longitude = -108.816813; duration = 425; initialDepth = 3698.998200; finalDepth = 3695.561400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1003580000001 # Actual altitude: 51.1003580000001 # Commanded vehicle depth: 3695.5614 # Seafloor depth: -3745.561400 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.282493 meters # Minimum depth: 3748.998200 meters looking forward 100.000000 meters along route # Maximum depth: 3759.264457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3698.998200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999672; longitude = -108.817795; duration = 425; initialDepth = 3711.109587; finalDepth = 3698.998200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3698.9982 # Seafloor depth: -3748.998200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.282199 meters # Minimum depth: 3761.109587 meters looking forward 100.000000 meters along route # Maximum depth: 3770.848249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3711.109587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999997; longitude = -108.818778; duration = 425; initialDepth = 3719.601327; finalDepth = 3711.109587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3711.109587 # Seafloor depth: -3761.109587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.432457 meters # Minimum depth: 3769.601327 meters looking forward 100.000000 meters along route # Maximum depth: 3771.007327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.601327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000322; longitude = -108.819760; duration = 429; initialDepth = 3720.707035; finalDepth = 3719.601327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.170345 # Actual altitude: 51.170345 # Commanded vehicle depth: 3719.601327 # Seafloor depth: -3770.771672 # 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 39 # Segment length 105.131058 meters # Minimum depth: 3770.707035 meters looking forward 100.000000 meters along route # Maximum depth: 3772.863176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3720.707035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000650; longitude = -108.820754; duration = 420; initialDepth = 3715.394680; finalDepth = 3720.707035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.170345 # Actual altitude: 51.170345 # Commanded vehicle depth: 3720.707035 # Seafloor depth: -3771.047783 # 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 39 # Segment length 101.650398 meters # Minimum depth: 3765.394680 meters looking forward 100.000000 meters along route # Maximum depth: 3770.121555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.394680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000972; longitude = -108.821726; duration = 406; initialDepth = 3715.366619; finalDepth = 3715.394680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7268750000003 # Actual altitude: 54.7268750000003 # Commanded vehicle depth: 3715.39468 # Seafloor depth: -3770.121555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.283851 meters # Minimum depth: 3765.366619 meters looking forward 100.000000 meters along route # Maximum depth: 3769.927341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.366619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001282; longitude = -108.822666; duration = 401; initialDepth = 3721.374944; finalDepth = 3715.366619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7268750000003 # Actual altitude: 54.7268750000003 # Commanded vehicle depth: 3715.366619 # Seafloor depth: -3765.371741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.496492 meters # Minimum depth: 3771.374944 meters looking forward 100.000000 meters along route # Maximum depth: 3778.436002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.374944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001589; longitude = -108.823593; duration = 425; initialDepth = 3725.544949; finalDepth = 3721.374944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.005122 # Actual altitude: 50.005122 # Commanded vehicle depth: 3721.374944 # Seafloor depth: -3771.374944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.064728 meters # Minimum depth: 3775.544949 meters looking forward 100.000000 meters along route # Maximum depth: 3778.191514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.544949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001914; longitude = -108.824577; duration = 424; initialDepth = 3725.812257; finalDepth = 3725.544949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646565 # Actual altitude: 52.646565 # Commanded vehicle depth: 3725.544949 # Seafloor depth: -3778.191514 # 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 39 # Segment length 106.280169 meters # Minimum depth: 3775.812257 meters looking forward 100.000000 meters along route # Maximum depth: 3777.318487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3725.812257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002238; longitude = -108.825558; duration = 425; initialDepth = 3727.424692; finalDepth = 3725.812257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.646565 # Actual altitude: 52.646565 # Commanded vehicle depth: 3725.812257 # Seafloor depth: -3775.812257 # 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 39 # Segment length 106.279875 meters # Minimum depth: 3777.424692 meters looking forward 100.000000 meters along route # Maximum depth: 3783.810112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.424692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002563; longitude = -108.826541; duration = 425; initialDepth = 3734.584611; finalDepth = 3727.424692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3727.424692 # Seafloor depth: -3777.424692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.279581 meters # Minimum depth: 3784.584611 meters looking forward 100.000000 meters along route # Maximum depth: 3786.953078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.584611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002888; longitude = -108.827523; duration = 425; initialDepth = 3734.555323; finalDepth = 3734.584611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3734.584611 # Seafloor depth: -3784.584611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.811416 meters # Minimum depth: 3784.555323 meters looking forward 100.000000 meters along route # Maximum depth: 3786.119689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.555323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003213; longitude = -108.828506; duration = 427; initialDepth = 3735.056463; finalDepth = 3734.555323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5643660000001 # Actual altitude: 51.5643660000001 # Commanded vehicle depth: 3734.555323 # Seafloor depth: -3786.119689 # 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 39 # Segment length 105.746863 meters # Minimum depth: 3785.056463 meters looking forward 100.000000 meters along route # Maximum depth: 3786.001838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.056463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003539; longitude = -108.829493; duration = 422; initialDepth = 3736.106504; finalDepth = 3735.056463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5643660000001 # Actual altitude: 51.5643660000001 # Commanded vehicle depth: 3735.056463 # Seafloor depth: -3785.056463 # 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 39 # Segment length 106.278699 meters # Minimum depth: 3786.106504 meters looking forward 100.000000 meters along route # Maximum depth: 3790.138145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.106504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003863; longitude = -108.830471; duration = 425; initialDepth = 3740.305530; finalDepth = 3736.106504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3736.106504 # Seafloor depth: -3786.106504 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.278405 meters # Minimum depth: 3790.305530 meters looking forward 100.000000 meters along route # Maximum depth: 3791.172773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.305530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004187; longitude = -108.831454; duration = 425; initialDepth = 3741.386464; finalDepth = 3740.305530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3740.30553 # Seafloor depth: -3790.305530 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.278111 meters # Minimum depth: 3791.386464 meters looking forward 100.000000 meters along route # Maximum depth: 3792.941660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.386464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004512; longitude = -108.832436; duration = 425; initialDepth = 3740.032572; finalDepth = 3741.386464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3741.386464 # Seafloor depth: -3791.386464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.126333 meters # Minimum depth: 3790.032572 meters looking forward 100.000000 meters along route # Maximum depth: 3792.939421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.032572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004837; longitude = -108.833419; duration = 428; initialDepth = 3739.685013; finalDepth = 3740.032572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.906849 # Actual altitude: 52.906849 # Commanded vehicle depth: 3740.032572 # Seafloor depth: -3792.939421 # 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 39 # Segment length 105.429008 meters # Minimum depth: 3789.685013 meters looking forward 100.000000 meters along route # Maximum depth: 3791.509953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.685013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005165; longitude = -108.834409; duration = 421; initialDepth = 3741.526636; finalDepth = 3739.685013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.906849 # Actual altitude: 52.906849 # Commanded vehicle depth: 3739.685013 # Seafloor depth: -3790.011044 # 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 39 # Segment length 106.277229 meters # Minimum depth: 3791.526636 meters looking forward 100.000000 meters along route # Maximum depth: 3792.010152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.526636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005487; longitude = -108.835384; duration = 425; initialDepth = 3741.480661; finalDepth = 3741.526636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3260310000001 # Actual altitude: 50.3260310000001 # Commanded vehicle depth: 3741.526636 # Seafloor depth: -3791.768756 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.276935 meters # Minimum depth: 3791.480661 meters looking forward 100.000000 meters along route # Maximum depth: 3793.435516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.480661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005812; longitude = -108.836367; duration = 425; initialDepth = 3742.533165; finalDepth = 3741.480661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2421199999999 # Actual altitude: 50.2421199999999 # Commanded vehicle depth: 3741.480661 # Seafloor depth: -3791.517947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.276642 meters # Minimum depth: 3792.533165 meters looking forward 100.000000 meters along route # Maximum depth: 3793.696696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.533165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006137; longitude = -108.837349; duration = 425; initialDepth = 3740.272760; finalDepth = 3742.533165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0163640000001 # Actual altitude: 51.0163640000001 # Commanded vehicle depth: 3742.533165 # Seafloor depth: -3793.549529 # 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 39 # Segment length 107.441241 meters # Minimum depth: 3790.272760 meters looking forward 100.000000 meters along route # Maximum depth: 3792.219262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.272760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006461; longitude = -108.838332; duration = 429; initialDepth = 3739.858483; finalDepth = 3740.272760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9465020000002 # Actual altitude: 51.9465020000002 # Commanded vehicle depth: 3740.27276 # Seafloor depth: -3792.219262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 105.111161 meters # Minimum depth: 3789.858483 meters looking forward 100.000000 meters along route # Maximum depth: 3790.264538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.858483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006790; longitude = -108.839325; duration = 420; initialDepth = 3739.822553; finalDepth = 3739.858483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9465020000002 # Actual altitude: 51.9465020000002 # Commanded vehicle depth: 3739.858483 # Seafloor depth: -3790.264538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.275761 meters # Minimum depth: 3789.822553 meters looking forward 100.000000 meters along route # Maximum depth: 3789.909718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.822553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007111; longitude = -108.840297; duration = 425; initialDepth = 3739.906795; finalDepth = 3739.822553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4060549999999 # Actual altitude: 50.4060549999999 # Commanded vehicle depth: 3739.822553 # Seafloor depth: -3789.847337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.275467 meters # Minimum depth: 3789.906795 meters looking forward 100.000000 meters along route # Maximum depth: 3790.058204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.906795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007436; longitude = -108.841280; duration = 425; initialDepth = 3739.451677; finalDepth = 3739.906795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0247840000002 # Actual altitude: 50.0247840000002 # Commanded vehicle depth: 3739.906795 # Seafloor depth: -3789.906795 # 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 39 # Segment length 106.275173 meters # Minimum depth: 3789.451677 meters looking forward 100.000000 meters along route # Maximum depth: 3789.870453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.451677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007761; longitude = -108.842263; duration = 425; initialDepth = 3739.151727; finalDepth = 3739.451677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.418776 # Actual altitude: 50.418776 # Commanded vehicle depth: 3739.451677 # Seafloor depth: -3789.870453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 107.756141 meters # Minimum depth: 3789.151727 meters looking forward 100.000000 meters along route # Maximum depth: 3790.285520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.151727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008086; longitude = -108.843245; duration = 431; initialDepth = 3738.988358; finalDepth = 3739.151727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7878759999999 # Actual altitude: 50.7878759999999 # Commanded vehicle depth: 3739.151727 # Seafloor depth: -3789.939603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 108.313245 meters # Minimum depth: 3788.988358 meters looking forward 100.000000 meters along route # Maximum depth: 3789.673274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.988358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008415; longitude = -108.844242; duration = 433; initialDepth = 3738.130241; finalDepth = 3738.988358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.7878759999999 # Actual altitude: 50.7878759999999 # Commanded vehicle depth: 3738.988358 # Seafloor depth: -3789.134106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 152.945994 meters # Minimum depth: 3788.130241 meters looking forward 100.000000 meters along route # Maximum depth: 3790.958547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.130241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008746; longitude = -108.845243; duration = 611; # abortOnTimeout = True; initialDepth = 3740.852329; finalDepth = 3738.130241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5853350000002 # Actual altitude: 51.5853350000002 # Commanded vehicle depth: 3738.130241 # Seafloor depth: -3789.715576 # 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; } # ####################################################### # # 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 129.208659 meters # Minimum depth: 3790.852329 meters looking forward 100.000000 meters along route # Maximum depth: 3791.072449 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.852329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007452; longitude = -108.845767; duration = 516; # abortOnTimeout = True; initialDepth = 3740.339383; finalDepth = 3740.852329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5853350000002 # Actual altitude: 51.5853350000002 # Commanded vehicle depth: 3740.852329 # Seafloor depth: -3791.072449 # 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 37 # Segment length 100.758428 meters # Minimum depth: 3790.339383 meters looking forward 100.000000 meters along route # Maximum depth: 3790.843988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.339383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007061; longitude = -108.844571; duration = 403; initialDepth = 3740.455566; finalDepth = 3740.339383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5046050000001 # Actual altitude: 50.5046050000001 # Commanded vehicle depth: 3740.339383 # Seafloor depth: -3790.843988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.892961 meters # Minimum depth: 3790.455566 meters looking forward 100.000000 meters along route # Maximum depth: 3791.196252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.455566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006755; longitude = -108.843638; duration = 431; initialDepth = 3740.655824; finalDepth = 3740.455566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5046050000001 # Actual altitude: 50.5046050000001 # Commanded vehicle depth: 3740.455566 # Seafloor depth: -3790.455566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 104.413013 meters # Minimum depth: 3790.655824 meters looking forward 100.000000 meters along route # Maximum depth: 3791.193900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.655824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006429; longitude = -108.842640; duration = 417; initialDepth = 3740.689858; finalDepth = 3740.655824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5380760000003 # Actual altitude: 50.5380760000003 # Commanded vehicle depth: 3740.655824 # Seafloor depth: -3791.193900 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.153424 meters # Minimum depth: 3790.689858 meters looking forward 100.000000 meters along route # Maximum depth: 3791.552644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.689858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006112; longitude = -108.841673; duration = 424; initialDepth = 3741.579192; finalDepth = 3740.689858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5380760000003 # Actual altitude: 50.5380760000003 # Commanded vehicle depth: 3740.689858 # Seafloor depth: -3790.689858 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.153716 meters # Minimum depth: 3791.579192 meters looking forward 100.000000 meters along route # Maximum depth: 3792.951347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.579192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005791; longitude = -108.840690; duration = 424; initialDepth = 3743.176921; finalDepth = 3741.579192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3741.579192 # Seafloor depth: -3791.579192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.586006 meters # Minimum depth: 3793.176921 meters looking forward 100.000000 meters along route # Maximum depth: 3795.402745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.176921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005469; longitude = -108.839708; duration = 402; initialDepth = 3744.430902; finalDepth = 3743.176921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3743.176921 # Seafloor depth: -3793.176921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 101.106857 meters # Minimum depth: 3794.430902 meters looking forward 100.000000 meters along route # Maximum depth: 3795.482728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.430902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005165; longitude = -108.838777; duration = 404; initialDepth = 3744.323503; finalDepth = 3744.430902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0208669999997 # Actual altitude: 51.0208669999997 # Commanded vehicle depth: 3744.430902 # Seafloor depth: -3795.451769 # 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 37 # Segment length 107.547911 meters # Minimum depth: 3794.323503 meters looking forward 100.000000 meters along route # Maximum depth: 3795.309171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.323503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004858; longitude = -108.837841; duration = 430; initialDepth = 3744.277813; finalDepth = 3744.323503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0208669999997 # Actual altitude: 51.0208669999997 # Commanded vehicle depth: 3744.323503 # Seafloor depth: -3794.345336 # 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 37 # Segment length 104.761503 meters # Minimum depth: 3794.277813 meters looking forward 100.000000 meters along route # Maximum depth: 3795.227700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.277813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004533; longitude = -108.836845; duration = 419; initialDepth = 3741.559164; finalDepth = 3744.277813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9498869999998 # Actual altitude: 50.9498869999998 # Commanded vehicle depth: 3744.277813 # Seafloor depth: -3795.227700 # 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 37 # Segment length 106.155145 meters # Minimum depth: 3791.559164 meters looking forward 100.000000 meters along route # Maximum depth: 3794.144631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.559164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004215; longitude = -108.835876; duration = 424; initialDepth = 3741.403722; finalDepth = 3741.559164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5854670000003 # Actual altitude: 52.5854670000003 # Commanded vehicle depth: 3741.559164 # Seafloor depth: -3794.144631 # 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 37 # Segment length 106.155436 meters # Minimum depth: 3791.403722 meters looking forward 100.000000 meters along route # Maximum depth: 3791.835326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.403722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003894; longitude = -108.834893; duration = 424; initialDepth = 3739.635276; finalDepth = 3741.403722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5854670000003 # Actual altitude: 52.5854670000003 # Commanded vehicle depth: 3741.403722 # Seafloor depth: -3791.543333 # 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 37 # Segment length 100.240834 meters # Minimum depth: 3789.635276 meters looking forward 100.000000 meters along route # Maximum depth: 3791.208439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.635276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003572; longitude = -108.833910; duration = 400; initialDepth = 3739.610597; finalDepth = 3739.635276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.573163 # Actual altitude: 51.573163 # Commanded vehicle depth: 3739.635276 # Seafloor depth: -3791.208439 # 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 37 # Segment length 101.455299 meters # Minimum depth: 3789.610597 meters looking forward 100.000000 meters along route # Maximum depth: 3791.908208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.610597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003269; longitude = -108.832982; duration = 405; initialDepth = 3739.335262; finalDepth = 3739.610597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.573163 # Actual altitude: 51.573163 # Commanded vehicle depth: 3739.610597 # Seafloor depth: -3789.633594 # 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 37 # Segment length 107.202850 meters # Minimum depth: 3789.335262 meters looking forward 100.000000 meters along route # Maximum depth: 3792.091209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.335262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002961; longitude = -108.832043; duration = 428; initialDepth = 3737.875162; finalDepth = 3739.335262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7344229999999 # Actual altitude: 52.7344229999999 # Commanded vehicle depth: 3739.335262 # Seafloor depth: -3792.069685 # 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 37 # Segment length 105.110006 meters # Minimum depth: 3787.875162 meters looking forward 100.000000 meters along route # Maximum depth: 3789.311559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.875162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002637; longitude = -108.831051; duration = 420; initialDepth = 3735.044750; finalDepth = 3737.875162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7344229999999 # Actual altitude: 52.7344229999999 # Commanded vehicle depth: 3737.875162 # Seafloor depth: -3789.311559 # 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 37 # Segment length 106.156866 meters # Minimum depth: 3785.044750 meters looking forward 100.000000 meters along route # Maximum depth: 3787.682256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.044750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002318; longitude = -108.830078; duration = 424; initialDepth = 3734.893342; finalDepth = 3735.044750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.637506 # Actual altitude: 52.637506 # Commanded vehicle depth: 3735.04475 # Seafloor depth: -3787.682256 # 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 37 # Segment length 106.157157 meters # Minimum depth: 3784.893342 meters looking forward 100.000000 meters along route # Maximum depth: 3786.619043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.893342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001997; longitude = -108.829095; duration = 424; initialDepth = 3732.107940; finalDepth = 3734.893342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.637506 # Actual altitude: 52.637506 # Commanded vehicle depth: 3734.893342 # Seafloor depth: -3785.009210 # 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 37 # Segment length 106.157450 meters # Minimum depth: 3782.107940 meters looking forward 100.000000 meters along route # Maximum depth: 3786.921339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.107940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001675; longitude = -108.828113; duration = 424; initialDepth = 3728.245335; finalDepth = 3732.107940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7207090000002 # Actual altitude: 54.7207090000002 # Commanded vehicle depth: 3732.10794 # Seafloor depth: -3786.828649 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.157741 meters # Minimum depth: 3778.245335 meters looking forward 100.000000 meters along route # Maximum depth: 3781.604933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.245335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001354; longitude = -108.827130; duration = 424; initialDepth = 3728.987410; finalDepth = 3728.245335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7207090000002 # Actual altitude: 54.7207090000002 # Commanded vehicle depth: 3728.245335 # Seafloor depth: -3781.604933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 106.158033 meters # Minimum depth: 3778.987410 meters looking forward 100.000000 meters along route # Maximum depth: 3783.943575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.987410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001032; longitude = -108.826148; duration = 424; initialDepth = 3727.167016; finalDepth = 3728.987410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.359598 # Actual altitude: 53.359598 # Commanded vehicle depth: 3728.98741 # Seafloor depth: -3778.987410 # 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 37 # Segment length 106.158325 meters # Minimum depth: 3777.167016 meters looking forward 100.000000 meters along route # Maximum depth: 3784.194717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3727.167016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000710; longitude = -108.825165; duration = 424; initialDepth = 3716.978046; finalDepth = 3727.167016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.027701 # Actual altitude: 57.027701 # Commanded vehicle depth: 3727.167016 # Seafloor depth: -3784.194717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.664145 meters # Minimum depth: 3766.978046 meters looking forward 100.000000 meters along route # Maximum depth: 3775.657915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3716.978046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000389; longitude = -108.824182; duration = 410; initialDepth = 3715.991692; finalDepth = 3716.978046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.6798689999996 # Actual altitude: 58.6798689999996 # Commanded vehicle depth: 3716.978046 # Seafloor depth: -3775.657915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 130.699599 meters # Minimum depth: 3765.991692 meters looking forward 100.000000 meters along route # Maximum depth: 3772.083544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3715.991692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000078; longitude = -108.823232; duration = 522; # abortOnTimeout = True; initialDepth = 3722.398926; finalDepth = 3715.991692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.6798689999996 # Actual altitude: 58.6798689999996 # Commanded vehicle depth: 3715.991692 # Seafloor depth: -3766.731018 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 109.813617 meters # Minimum depth: 3772.398926 meters looking forward 100.000000 meters along route # Maximum depth: 3779.870656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.398926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998965; longitude = -108.823658; duration = 439; # abortOnTimeout = True; initialDepth = 3729.878987; finalDepth = 3722.398926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7393259999999 # Actual altitude: 50.7393259999999 # Commanded vehicle depth: 3722.398926 # Seafloor depth: -3772.398926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 105.929284 meters # Minimum depth: 3779.878987 meters looking forward 100.000000 meters along route # Maximum depth: 3781.311809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.878987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999296; longitude = -108.824675; duration = 423; initialDepth = 3728.880995; finalDepth = 3729.878987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3729.878987 # Seafloor depth: -3779.878987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.091322 meters # Minimum depth: 3778.880995 meters looking forward 100.000000 meters along route # Maximum depth: 3780.343392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.880995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999615; longitude = -108.825656; duration = 424; initialDepth = 3729.510704; finalDepth = 3728.880995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4623970000002 # Actual altitude: 51.4623970000002 # Commanded vehicle depth: 3728.880995 # Seafloor depth: -3780.343392 # 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 35 # Segment length 106.091032 meters # Minimum depth: 3779.510704 meters looking forward 100.000000 meters along route # Maximum depth: 3783.909159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.510704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999935; longitude = -108.826639; duration = 424; initialDepth = 3731.387811; finalDepth = 3729.510704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4623970000002 # Actual altitude: 51.4623970000002 # Commanded vehicle depth: 3729.510704 # Seafloor depth: -3779.510704 # 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 35 # Segment length 106.090742 meters # Minimum depth: 3781.387811 meters looking forward 100.000000 meters along route # Maximum depth: 3784.153891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.387811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000255; longitude = -108.827621; duration = 424; initialDepth = 3731.607533; finalDepth = 3731.387811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7215590000001 # Actual altitude: 52.7215590000001 # Commanded vehicle depth: 3731.387811 # Seafloor depth: -3784.109370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.090451 meters # Minimum depth: 3781.607533 meters looking forward 100.000000 meters along route # Maximum depth: 3784.548383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.607533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000574; longitude = -108.828604; duration = 424; initialDepth = 3733.888884; finalDepth = 3731.607533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7215590000001 # Actual altitude: 52.7215590000001 # Commanded vehicle depth: 3731.607533 # Seafloor depth: -3781.607533 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.090160 meters # Minimum depth: 3783.888884 meters looking forward 100.000000 meters along route # Maximum depth: 3785.654800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.888884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000894; longitude = -108.829587; duration = 424; initialDepth = 3735.890371; finalDepth = 3733.888884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.334261 # Actual altitude: 50.334261 # Commanded vehicle depth: 3733.888884 # Seafloor depth: -3784.223145 # 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 35 # Segment length 106.089869 meters # Minimum depth: 3785.890371 meters looking forward 100.000000 meters along route # Maximum depth: 3788.508093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.890371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001214; longitude = -108.830569; duration = 424; initialDepth = 3739.060655; finalDepth = 3735.890371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.334261 # Actual altitude: 50.334261 # Commanded vehicle depth: 3735.890371 # Seafloor depth: -3785.890371 # 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 35 # Segment length 106.089579 meters # Minimum depth: 3789.060655 meters looking forward 100.000000 meters along route # Maximum depth: 3791.509868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.060655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001533; longitude = -108.831552; duration = 424; initialDepth = 3741.597966; finalDepth = 3739.060655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3739.060655 # Seafloor depth: -3789.060655 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 110.139356 meters # Minimum depth: 3791.597966 meters looking forward 100.000000 meters along route # Maximum depth: 3792.991669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.597966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001853; longitude = -108.832535; duration = 440; initialDepth = 3743.152721; finalDepth = 3741.597966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3741.597966 # Seafloor depth: -3791.597966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.038931 meters # Minimum depth: 3793.152721 meters looking forward 100.000000 meters along route # Maximum depth: 3794.983022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.152721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002185; longitude = -108.833555; duration = 408; initialDepth = 3741.925128; finalDepth = 3743.152721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3743.152721 # Seafloor depth: -3793.152721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.673924 meters # Minimum depth: 3791.925128 meters looking forward 100.000000 meters along route # Maximum depth: 3794.057991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.925128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002493; longitude = -108.834500; duration = 430; initialDepth = 3742.717088; finalDepth = 3741.925128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1328630000003 # Actual altitude: 52.1328630000003 # Commanded vehicle depth: 3741.925128 # Seafloor depth: -3794.057991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 104.503201 meters # Minimum depth: 3792.717088 meters looking forward 100.000000 meters along route # Maximum depth: 3795.618051 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.717088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002817; longitude = -108.835497; duration = 418; initialDepth = 3745.194657; finalDepth = 3742.717088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1328630000003 # Actual altitude: 52.1328630000003 # Commanded vehicle depth: 3742.717088 # Seafloor depth: -3792.717088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.088127 meters # Minimum depth: 3795.194657 meters looking forward 100.000000 meters along route # Maximum depth: 3795.537158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3745.194657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003132; longitude = -108.836465; duration = 424; initialDepth = 3744.043610; finalDepth = 3745.194657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2365159999999 # Actual altitude: 50.2365159999999 # Commanded vehicle depth: 3745.194657 # Seafloor depth: -3795.431173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.087836 meters # Minimum depth: 3794.043610 meters looking forward 100.000000 meters along route # Maximum depth: 3795.439762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.043610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003452; longitude = -108.837448; duration = 424; initialDepth = 3744.214619; finalDepth = 3744.043610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3961519999998 # Actual altitude: 51.3961519999998 # Commanded vehicle depth: 3744.04361 # Seafloor depth: -3795.439762 # 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 35 # Segment length 106.087546 meters # Minimum depth: 3794.214619 meters looking forward 100.000000 meters along route # Maximum depth: 3794.988129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.214619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003772; longitude = -108.838430; duration = 424; initialDepth = 3743.106123; finalDepth = 3744.214619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3961519999998 # Actual altitude: 51.3961519999998 # Commanded vehicle depth: 3744.214619 # Seafloor depth: -3794.214619 # 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 35 # Segment length 106.087256 meters # Minimum depth: 3793.106123 meters looking forward 100.000000 meters along route # Maximum depth: 3794.928525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.106123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004091; longitude = -108.839413; duration = 424; initialDepth = 3739.990888; finalDepth = 3743.106123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8224019999998 # Actual altitude: 51.8224019999998 # Commanded vehicle depth: 3743.106123 # Seafloor depth: -3794.928525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 100.277790 meters # Minimum depth: 3789.990888 meters looking forward 100.000000 meters along route # Maximum depth: 3792.729655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.990888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004411; longitude = -108.840396; duration = 401; initialDepth = 3740.024363; finalDepth = 3739.990888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7387670000003 # Actual altitude: 52.7387670000003 # Commanded vehicle depth: 3739.990888 # Seafloor depth: -3792.729655 # 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 35 # Segment length 101.287196 meters # Minimum depth: 3790.024363 meters looking forward 100.000000 meters along route # Maximum depth: 3790.824176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.024363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004713; longitude = -108.841324; duration = 405; initialDepth = 3739.765487; finalDepth = 3740.024363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7387670000003 # Actual altitude: 52.7387670000003 # Commanded vehicle depth: 3740.024363 # Seafloor depth: -3790.024363 # 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 35 # Segment length 108.421121 meters # Minimum depth: 3789.765487 meters looking forward 100.000000 meters along route # Maximum depth: 3790.491234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.765487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005018; longitude = -108.842263; duration = 433; initialDepth = 3740.040824; finalDepth = 3739.765487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725747 # Actual altitude: 50.725747 # Commanded vehicle depth: 3739.765487 # Seafloor depth: -3790.491234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 103.751416 meters # Minimum depth: 3790.040824 meters looking forward 100.000000 meters along route # Maximum depth: 3790.627091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.040824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005345; longitude = -108.843267; duration = 415; initialDepth = 3739.304146; finalDepth = 3740.040824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725747 # Actual altitude: 50.725747 # Commanded vehicle depth: 3740.040824 # Seafloor depth: -3790.040824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 106.085834 meters # Minimum depth: 3789.304146 meters looking forward 100.000000 meters along route # Maximum depth: 3790.167218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.304146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005658; longitude = -108.844228; duration = 424; initialDepth = 3739.641066; finalDepth = 3739.304146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8630720000001 # Actual altitude: 50.8630720000001 # Commanded vehicle depth: 3739.304146 # Seafloor depth: -3790.167218 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 109.639688 meters # Minimum depth: 3789.641066 meters looking forward 100.000000 meters along route # Maximum depth: 3790.989321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.641066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005978; longitude = -108.845210; duration = 438; initialDepth = 3739.757572; finalDepth = 3739.641066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8630720000001 # Actual altitude: 50.8630720000001 # Commanded vehicle depth: 3739.641066 # Seafloor depth: -3789.641066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; 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 136.065927 meters # Minimum depth: 3789.757572 meters looking forward 100.000000 meters along route # Maximum depth: 3790.893799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.757572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006308; longitude = -108.846226; duration = 544; # abortOnTimeout = True; initialDepth = 3739.755450; finalDepth = 3739.757572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.136227 # Actual altitude: 51.136227 # Commanded vehicle depth: 3739.757572 # Seafloor depth: -3790.893799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 109.674369 meters # Minimum depth: 3789.755450 meters looking forward 100.000000 meters along route # Maximum depth: 3790.791952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.755450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005134; longitude = -108.846619; duration = 438; # abortOnTimeout = True; initialDepth = 3740.797938; finalDepth = 3739.755450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136227 # Actual altitude: 51.136227 # Commanded vehicle depth: 3739.75545 # Seafloor depth: -3789.785400 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.124615 meters # Minimum depth: 3790.797938 meters looking forward 100.000000 meters along route # Maximum depth: 3791.546705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.797938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004803; longitude = -108.845604; duration = 424; initialDepth = 3738.851092; finalDepth = 3740.797938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0299500000001 # Actual altitude: 50.0299500000001 # Commanded vehicle depth: 3740.797938 # Seafloor depth: -3790.797938 # 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 33 # Segment length 106.124906 meters # Minimum depth: 3788.851092 meters looking forward 100.000000 meters along route # Maximum depth: 3791.010208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.851092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004482; longitude = -108.844621; duration = 424; initialDepth = 3738.799794; finalDepth = 3738.851092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1591160000003 # Actual altitude: 52.1591160000003 # Commanded vehicle depth: 3738.851092 # Seafloor depth: -3791.010208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.125197 meters # Minimum depth: 3788.799794 meters looking forward 100.000000 meters along route # Maximum depth: 3790.479100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.799794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004161; longitude = -108.843638; duration = 424; initialDepth = 3740.722699; finalDepth = 3738.799794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1591160000003 # Actual altitude: 52.1591160000003 # Commanded vehicle depth: 3738.799794 # Seafloor depth: -3788.814678 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.125488 meters # Minimum depth: 3790.722699 meters looking forward 100.000000 meters along route # Maximum depth: 3792.039487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.722699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003840; longitude = -108.842656; duration = 424; initialDepth = 3742.107827; finalDepth = 3740.722699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0148840000002 # Actual altitude: 50.0148840000002 # Commanded vehicle depth: 3740.722699 # Seafloor depth: -3790.722699 # 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 33 # Segment length 106.125779 meters # Minimum depth: 3792.107827 meters looking forward 100.000000 meters along route # Maximum depth: 3793.753505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.107827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003520; longitude = -108.841673; duration = 424; initialDepth = 3744.217525; finalDepth = 3742.107827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3742.107827 # Seafloor depth: -3792.107827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.126070 meters # Minimum depth: 3794.217525 meters looking forward 100.000000 meters along route # Maximum depth: 3797.569786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.217525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003199; longitude = -108.840690; duration = 424; initialDepth = 3744.804559; finalDepth = 3744.217525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3744.217525 # Seafloor depth: -3794.217525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 109.783786 meters # Minimum depth: 3794.804559 meters looking forward 100.000000 meters along route # Maximum depth: 3797.402411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.804559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002878; longitude = -108.839708; duration = 439; initialDepth = 3744.277301; finalDepth = 3744.804559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5978519999999 # Actual altitude: 52.5978519999999 # Commanded vehicle depth: 3744.804559 # Seafloor depth: -3797.402411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.469226 meters # Minimum depth: 3794.277301 meters looking forward 100.000000 meters along route # Maximum depth: 3794.751043 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.277301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002546; longitude = -108.838691; duration = 409; initialDepth = 3744.608761; finalDepth = 3744.277301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5978519999999 # Actual altitude: 52.5978519999999 # Commanded vehicle depth: 3744.277301 # Seafloor depth: -3794.751043 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.648505 meters # Minimum depth: 3794.608761 meters looking forward 100.000000 meters along route # Maximum depth: 3795.136802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.608761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002237; longitude = -108.837743; duration = 426; initialDepth = 3744.924324; finalDepth = 3744.608761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4737420000001 # Actual altitude: 50.4737420000001 # Commanded vehicle depth: 3744.608761 # Seafloor depth: -3794.608761 # 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 33 # Segment length 105.605672 meters # Minimum depth: 3794.924324 meters looking forward 100.000000 meters along route # Maximum depth: 3795.241778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.924324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001914; longitude = -108.836755; duration = 422; initialDepth = 3743.621972; finalDepth = 3744.924324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0315729999998 # Actual altitude: 50.0315729999998 # Commanded vehicle depth: 3744.924324 # Seafloor depth: -3794.955897 # 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 33 # Segment length 106.127525 meters # Minimum depth: 3793.621972 meters looking forward 100.000000 meters along route # Maximum depth: 3795.160617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.621972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001595; longitude = -108.835777; duration = 424; initialDepth = 3741.721013; finalDepth = 3743.621972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5386450000001 # Actual altitude: 51.5386450000001 # Commanded vehicle depth: 3743.621972 # Seafloor depth: -3795.160617 # 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 33 # Segment length 106.127817 meters # Minimum depth: 3791.721013 meters looking forward 100.000000 meters along route # Maximum depth: 3793.598623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.721013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001274; longitude = -108.834795; duration = 424; initialDepth = 3741.187234; finalDepth = 3741.721013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.87761 # Actual altitude: 51.87761 # Commanded vehicle depth: 3741.721013 # Seafloor depth: -3793.598623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.377839 meters # Minimum depth: 3791.187234 meters looking forward 100.000000 meters along route # Maximum depth: 3791.457422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.187234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000954; longitude = -108.833812; duration = 401; initialDepth = 3736.814362; finalDepth = 3741.187234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.87761 # Actual altitude: 51.87761 # Commanded vehicle depth: 3741.187234 # Seafloor depth: -3791.457422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.265814 meters # Minimum depth: 3786.814362 meters looking forward 100.000000 meters along route # Maximum depth: 3791.363172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.814362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000650; longitude = -108.832883; duration = 405; initialDepth = 3733.078778; finalDepth = 3736.814362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5488099999998 # Actual altitude: 54.5488099999998 # Commanded vehicle depth: 3736.814362 # Seafloor depth: -3791.363172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 107.855309 meters # Minimum depth: 3783.078778 meters looking forward 100.000000 meters along route # Maximum depth: 3786.112183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.078778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000344; longitude = -108.831945; duration = 431; initialDepth = 3733.100744; finalDepth = 3733.078778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5488099999998 # Actual altitude: 54.5488099999998 # Commanded vehicle depth: 3733.078778 # Seafloor depth: -3786.112183 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 104.402303 meters # Minimum depth: 3783.100744 meters looking forward 100.000000 meters along route # Maximum depth: 3784.166040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.100744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000018; longitude = -108.830946; duration = 417; initialDepth = 3730.532796; finalDepth = 3733.100744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0334050000001 # Actual altitude: 53.0334050000001 # Commanded vehicle depth: 3733.100744 # Seafloor depth: -3783.100744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.129243 meters # Minimum depth: 3780.532796 meters looking forward 100.000000 meters along route # Maximum depth: 3783.774799 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.532796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999703; longitude = -108.829980; duration = 424; initialDepth = 3730.705086; finalDepth = 3730.532796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2420029999998 # Actual altitude: 53.2420029999998 # Commanded vehicle depth: 3730.532796 # Seafloor depth: -3783.774799 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.129534 meters # Minimum depth: 3780.705086 meters looking forward 100.000000 meters along route # Maximum depth: 3784.351342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.705086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999382; longitude = -108.828997; duration = 424; initialDepth = 3734.744007; finalDepth = 3730.705086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2420029999998 # Actual altitude: 53.2420029999998 # Commanded vehicle depth: 3730.705086 # Seafloor depth: -3780.705086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 101.584557 meters # Minimum depth: 3784.744007 meters looking forward 100.000000 meters along route # Maximum depth: 3786.891532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.744007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999061; longitude = -108.828015; duration = 406; initialDepth = 3732.932774; finalDepth = 3734.744007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3734.744007 # Seafloor depth: -3784.744007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.062361 meters # Minimum depth: 3782.932774 meters looking forward 100.000000 meters along route # Maximum depth: 3786.035750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.932774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998754; longitude = -108.827074; duration = 400; initialDepth = 3729.351607; finalDepth = 3732.932774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1029760000001 # Actual altitude: 53.1029760000001 # Commanded vehicle depth: 3732.932774 # Seafloor depth: -3786.035750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.130379 meters # Minimum depth: 3779.351607 meters looking forward 100.000000 meters along route # Maximum depth: 3782.841100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.351607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998452; longitude = -108.826148; duration = 424; initialDepth = 3728.973470; finalDepth = 3729.351607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.489493 # Actual altitude: 53.489493 # Commanded vehicle depth: 3729.351607 # Seafloor depth: -3782.841100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 102.596615 meters # Minimum depth: 3778.973470 meters looking forward 100.000000 meters along route # Maximum depth: 3779.983589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.973470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998131; longitude = -108.825165; duration = 410; initialDepth = 3730.034668; finalDepth = 3728.973470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.489493 # Actual altitude: 53.489493 # Commanded vehicle depth: 3728.97347 # Seafloor depth: -3779.144810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 143.646666 meters # Minimum depth: 3780.034668 meters looking forward 100.000000 meters along route # Maximum depth: 3782.270985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.034668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997821; longitude = -108.824215; duration = 574; # abortOnTimeout = True; initialDepth = 3728.429786; finalDepth = 3730.034668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.1713399999999 # Actual altitude: 50.1713399999999 # Commanded vehicle depth: 3730.034668 # Seafloor depth: -3780.034668 # 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; } # ####################################################### # # 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 109.681737 meters # Minimum depth: 3778.429786 meters looking forward 100.000000 meters along route # Maximum depth: 3779.920837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.429786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996617; longitude = -108.824739; duration = 438; # abortOnTimeout = True; initialDepth = 3728.290741; finalDepth = 3728.429786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.491051 # Actual altitude: 51.491051 # Commanded vehicle depth: 3728.429786 # Seafloor depth: -3779.920837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 106.132831 meters # Minimum depth: 3778.290741 meters looking forward 100.000000 meters along route # Maximum depth: 3780.310086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.290741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996949; longitude = -108.825754; duration = 424; initialDepth = 3730.650030; finalDepth = 3728.290741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.491051 # Actual altitude: 51.491051 # Commanded vehicle depth: 3728.290741 # Seafloor depth: -3778.429638 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.132541 meters # Minimum depth: 3780.650030 meters looking forward 100.000000 meters along route # Maximum depth: 3784.003953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.650030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997269; longitude = -108.826737; duration = 424; initialDepth = 3734.198966; finalDepth = 3730.650030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1388970000003 # Actual altitude: 50.1388970000003 # Commanded vehicle depth: 3730.65003 # Seafloor depth: -3780.650030 # 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 31 # Segment length 106.132248 meters # Minimum depth: 3784.198966 meters looking forward 100.000000 meters along route # Maximum depth: 3786.699726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.198966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997590; longitude = -108.827720; duration = 424; initialDepth = 3731.315540; finalDepth = 3734.198966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3734.198966 # Seafloor depth: -3784.198966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.131958 meters # Minimum depth: 3781.315540 meters looking forward 100.000000 meters along route # Maximum depth: 3785.058794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.315540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997911; longitude = -108.828702; duration = 424; initialDepth = 3731.577739; finalDepth = 3731.315540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.743254 # Actual altitude: 53.743254 # Commanded vehicle depth: 3731.31554 # Seafloor depth: -3785.058794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.131666 meters # Minimum depth: 3781.577739 meters looking forward 100.000000 meters along route # Maximum depth: 3783.129981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3731.577739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998232; longitude = -108.829685; duration = 424; initialDepth = 3733.462035; finalDepth = 3731.577739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.743254 # Actual altitude: 53.743254 # Commanded vehicle depth: 3731.577739 # Seafloor depth: -3781.577739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.131375 meters # Minimum depth: 3783.462035 meters looking forward 100.000000 meters along route # Maximum depth: 3786.048691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.462035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998552; longitude = -108.830668; duration = 424; initialDepth = 3736.089696; finalDepth = 3733.462035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3733.462035 # Seafloor depth: -3783.462035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 109.976589 meters # Minimum depth: 3786.089696 meters looking forward 100.000000 meters along route # Maximum depth: 3789.506790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.089696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998873; longitude = -108.831650; duration = 439; initialDepth = 3739.719178; finalDepth = 3736.089696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3736.089696 # Seafloor depth: -3786.089696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.285288 meters # Minimum depth: 3789.719178 meters looking forward 100.000000 meters along route # Maximum depth: 3792.401019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.719178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999206; longitude = -108.832668; duration = 409; initialDepth = 3742.313122; finalDepth = 3739.719178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3739.719178 # Seafloor depth: -3789.719178 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.811413 meters # Minimum depth: 3792.313122 meters looking forward 100.000000 meters along route # Maximum depth: 3792.685180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.313122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999515; longitude = -108.833615; duration = 427; initialDepth = 3742.297582; finalDepth = 3742.313122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1989359999998 # Actual altitude: 50.1989359999998 # Commanded vehicle depth: 3742.313122 # Seafloor depth: -3792.512058 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 105.449298 meters # Minimum depth: 3792.297582 meters looking forward 100.000000 meters along route # Maximum depth: 3793.978243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.297582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999838; longitude = -108.834604; duration = 421; initialDepth = 3744.080789; finalDepth = 3742.297582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1989359999998 # Actual altitude: 50.1989359999998 # Commanded vehicle depth: 3742.297582 # Seafloor depth: -3792.310860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.129920 meters # Minimum depth: 3794.080789 meters looking forward 100.000000 meters along route # Maximum depth: 3796.497172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.080789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000156; longitude = -108.835581; duration = 424; initialDepth = 3746.549439; finalDepth = 3744.080789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0132779999999 # Actual altitude: 50.0132779999999 # Commanded vehicle depth: 3744.080789 # Seafloor depth: -3794.080789 # 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 31 # Segment length 106.129628 meters # Minimum depth: 3796.549439 meters looking forward 100.000000 meters along route # Maximum depth: 3797.242823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3746.549439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000477; longitude = -108.836563; duration = 424; initialDepth = 3747.300366; finalDepth = 3746.549439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3746.549439 # Seafloor depth: -3796.549439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.481165 meters # Minimum depth: 3797.300366 meters looking forward 100.000000 meters along route # Maximum depth: 3797.832661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.300366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000798; longitude = -108.837546; duration = 401; initialDepth = 3747.686226; finalDepth = 3747.300366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3747.300366 # Seafloor depth: -3797.300366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.164326 meters # Minimum depth: 3797.686226 meters looking forward 100.000000 meters along route # Maximum depth: 3797.928834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.686226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001102; longitude = -108.838476; duration = 404; initialDepth = 3747.064246; finalDepth = 3747.686226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1875620000001 # Actual altitude: 50.1875620000001 # Commanded vehicle depth: 3747.686226 # Seafloor depth: -3797.873788 # 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 31 # Segment length 107.928985 meters # Minimum depth: 3797.064246 meters looking forward 100.000000 meters along route # Maximum depth: 3797.600398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.064246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001407; longitude = -108.839413; duration = 431; initialDepth = 3744.765028; finalDepth = 3747.064246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5361520000001 # Actual altitude: 50.5361520000001 # Commanded vehicle depth: 3747.064246 # Seafloor depth: -3797.600398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 104.328292 meters # Minimum depth: 3794.765028 meters looking forward 100.000000 meters along route # Maximum depth: 3797.031031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.765028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001734; longitude = -108.840412; duration = 417; initialDepth = 3741.191694; finalDepth = 3744.765028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2660030000002 # Actual altitude: 52.2660030000002 # Commanded vehicle depth: 3744.765028 # Seafloor depth: -3797.031031 # 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 31 # Segment length 106.128202 meters # Minimum depth: 3791.191694 meters looking forward 100.000000 meters along route # Maximum depth: 3794.415370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3741.191694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002049; longitude = -108.841378; duration = 424; initialDepth = 3740.420765; finalDepth = 3741.191694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2236760000001 # Actual altitude: 53.2236760000001 # Commanded vehicle depth: 3741.191694 # Seafloor depth: -3794.415370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.127911 meters # Minimum depth: 3790.420765 meters looking forward 100.000000 meters along route # Maximum depth: 3791.177700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.420765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002370; longitude = -108.842361; duration = 424; initialDepth = 3739.369894; finalDepth = 3740.420765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2236760000001 # Actual altitude: 53.2236760000001 # Commanded vehicle depth: 3740.420765 # Seafloor depth: -3791.177700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.598829 meters # Minimum depth: 3789.369894 meters looking forward 100.000000 meters along route # Maximum depth: 3790.459230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.369894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002691; longitude = -108.843343; duration = 406; initialDepth = 3740.661066; finalDepth = 3739.369894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7569350000003 # Actual altitude: 50.7569350000003 # Commanded vehicle depth: 3739.369894 # Seafloor depth: -3790.089767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.043401 meters # Minimum depth: 3790.661066 meters looking forward 100.000000 meters along route # Maximum depth: 3792.334559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.661066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002998; longitude = -108.844284; duration = 400; initialDepth = 3742.460966; finalDepth = 3740.661066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.719873 # Actual altitude: 50.719873 # Commanded vehicle depth: 3740.661066 # Seafloor depth: -3790.661066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 106.127067 meters # Minimum depth: 3792.460966 meters looking forward 100.000000 meters along route # Maximum depth: 3793.590359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.460966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003300; longitude = -108.845210; duration = 424; initialDepth = 3739.100417; finalDepth = 3742.460966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3742.460966 # Seafloor depth: -3792.460966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.594595 meters # Minimum depth: 3789.100417 meters looking forward 100.000000 meters along route # Maximum depth: 3793.235317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.100417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003621; longitude = -108.846193; duration = 410; initialDepth = 3738.917053; finalDepth = 3739.100417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.1349 # Actual altitude: 54.1349 # Commanded vehicle depth: 3739.100417 # Seafloor depth: -3793.235317 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 148.673974 meters # Minimum depth: 3788.917053 meters looking forward 100.000000 meters along route # Maximum depth: 3791.487620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.917053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003931; longitude = -108.847143; duration = 594; # abortOnTimeout = True; initialDepth = 3739.970655; finalDepth = 3738.917053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.1349 # Actual altitude: 54.1349 # Commanded vehicle depth: 3738.917053 # Seafloor depth: -3788.917053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 113.049526 meters # Minimum depth: 3789.970655 meters looking forward 100.000000 meters along route # Maximum depth: 3790.828466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.970655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002667; longitude = -108.847634; duration = 452; # abortOnTimeout = True; initialDepth = 3739.467984; finalDepth = 3739.970655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.578051 # Actual altitude: 50.578051 # Commanded vehicle depth: 3739.970655 # Seafloor depth: -3790.548706 # 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 29 # Segment length 108.058553 meters # Minimum depth: 3789.467984 meters looking forward 100.000000 meters along route # Maximum depth: 3789.849154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.467984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002328; longitude = -108.846586; duration = 432; initialDepth = 3739.541597; finalDepth = 3739.467984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.578051 # Actual altitude: 50.578051 # Commanded vehicle depth: 3739.467984 # Seafloor depth: -3789.849154 # 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 29 # Segment length 103.963343 meters # Minimum depth: 3789.541597 meters looking forward 100.000000 meters along route # Maximum depth: 3789.757425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.541597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002005; longitude = -108.845585; duration = 415; initialDepth = 3739.354424; finalDepth = 3739.541597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3811700000001 # Actual altitude: 50.3811700000001 # Commanded vehicle depth: 3739.541597 # Seafloor depth: -3789.541597 # 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 29 # Segment length 106.984617 meters # Minimum depth: 3789.354424 meters looking forward 100.000000 meters along route # Maximum depth: 3790.543010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.354424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001693; longitude = -108.844621; duration = 427; initialDepth = 3740.577004; finalDepth = 3739.354424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2494280000001 # Actual altitude: 50.2494280000001 # Commanded vehicle depth: 3739.354424 # Seafloor depth: -3789.603852 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 105.038435 meters # Minimum depth: 3790.577004 meters looking forward 100.000000 meters along route # Maximum depth: 3793.477647 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.577004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001373; longitude = -108.843629; duration = 420; initialDepth = 3743.509642; finalDepth = 3740.577004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2494280000001 # Actual altitude: 50.2494280000001 # Commanded vehicle depth: 3740.577004 # Seafloor depth: -3790.577004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.011959 meters # Minimum depth: 3793.509642 meters looking forward 100.000000 meters along route # Maximum depth: 3795.958731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.509642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001058; longitude = -108.842656; duration = 424; initialDepth = 3745.963822; finalDepth = 3743.509642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3743.509642 # Seafloor depth: -3793.509642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.012247 meters # Minimum depth: 3795.963822 meters looking forward 100.000000 meters along route # Maximum depth: 3798.844016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3745.963822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000740; longitude = -108.841673; duration = 424; initialDepth = 3748.772059; finalDepth = 3745.963822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3745.963822 # Seafloor depth: -3795.963822 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.012537 meters # Minimum depth: 3798.772059 meters looking forward 100.000000 meters along route # Maximum depth: 3799.226703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3748.772059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000423; longitude = -108.840690; duration = 424; initialDepth = 3747.692855; finalDepth = 3748.772059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1345380000002 # Actual altitude: 50.1345380000002 # Commanded vehicle depth: 3748.772059 # Seafloor depth: -3798.906597 # 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 29 # Segment length 106.012826 meters # Minimum depth: 3797.692855 meters looking forward 100.000000 meters along route # Maximum depth: 3798.752253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.692855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000105; longitude = -108.839708; duration = 424; initialDepth = 3747.998027; finalDepth = 3747.692855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0593980000003 # Actual altitude: 51.0593980000003 # Commanded vehicle depth: 3747.692855 # Seafloor depth: -3798.752253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013114 meters # Minimum depth: 3797.998027 meters looking forward 100.000000 meters along route # Maximum depth: 3798.928904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.998027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999787; longitude = -108.838725; duration = 424; initialDepth = 3747.229013; finalDepth = 3747.998027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0593980000003 # Actual altitude: 51.0593980000003 # Commanded vehicle depth: 3747.998027 # Seafloor depth: -3797.998027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.013404 meters # Minimum depth: 3797.229013 meters looking forward 100.000000 meters along route # Maximum depth: 3798.619248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.229013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999470; longitude = -108.837743; duration = 424; initialDepth = 3744.691015; finalDepth = 3747.229013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3902349999998 # Actual altitude: 51.3902349999998 # Commanded vehicle depth: 3747.229013 # Seafloor depth: -3798.619248 # 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 29 # Segment length 106.013692 meters # Minimum depth: 3794.691015 meters looking forward 100.000000 meters along route # Maximum depth: 3796.979080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.691015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999152; longitude = -108.836760; duration = 424; initialDepth = 3743.980163; finalDepth = 3744.691015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2880650000002 # Actual altitude: 52.2880650000002 # Commanded vehicle depth: 3744.691015 # Seafloor depth: -3796.979080 # 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 29 # Segment length 106.013982 meters # Minimum depth: 3793.980163 meters looking forward 100.000000 meters along route # Maximum depth: 3794.635209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.980163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998835; longitude = -108.835777; duration = 424; initialDepth = 3742.236354; finalDepth = 3743.980163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2880650000002 # Actual altitude: 52.2880650000002 # Commanded vehicle depth: 3743.980163 # Seafloor depth: -3794.635209 # 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 29 # Segment length 106.014270 meters # Minimum depth: 3792.236354 meters looking forward 100.000000 meters along route # Maximum depth: 3793.772029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.236354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998517; longitude = -108.834795; duration = 424; initialDepth = 3742.304166; finalDepth = 3742.236354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5356750000001 # Actual altitude: 51.5356750000001 # Commanded vehicle depth: 3742.236354 # Seafloor depth: -3793.772029 # 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 29 # Segment length 106.014560 meters # Minimum depth: 3792.304166 meters looking forward 100.000000 meters along route # Maximum depth: 3793.035406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.304166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998199; longitude = -108.833812; duration = 424; initialDepth = 3736.777225; finalDepth = 3742.304166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5356750000001 # Actual altitude: 51.5356750000001 # Commanded vehicle depth: 3742.304166 # Seafloor depth: -3792.447179 # 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 29 # Segment length 100.540756 meters # Minimum depth: 3786.777225 meters looking forward 100.000000 meters along route # Maximum depth: 3791.847298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.777225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997882; longitude = -108.832829; duration = 402; initialDepth = 3732.331220; finalDepth = 3736.777225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0700730000003 # Actual altitude: 55.0700730000003 # Commanded vehicle depth: 3736.777225 # Seafloor depth: -3791.847298 # 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 29 # Segment length 100.887703 meters # Minimum depth: 3782.331220 meters looking forward 100.000000 meters along route # Maximum depth: 3786.472329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.331220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997580; longitude = -108.831897; duration = 403; initialDepth = 3732.063232; finalDepth = 3732.331220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0700730000003 # Actual altitude: 55.0700730000003 # Commanded vehicle depth: 3732.33122 # Seafloor depth: -3786.472329 # 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 29 # Segment length 110.068266 meters # Minimum depth: 3782.063232 meters looking forward 100.000000 meters along route # Maximum depth: 3783.581119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.063232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997278; longitude = -108.830962; duration = 440; initialDepth = 3733.671743; finalDepth = 3732.063232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1411090000001 # Actual altitude: 54.1411090000001 # Commanded vehicle depth: 3732.063232 # Seafloor depth: -3782.193735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 101.962819 meters # Minimum depth: 3783.671743 meters looking forward 100.000000 meters along route # Maximum depth: 3785.679986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.671743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996948; longitude = -108.829942; duration = 407; initialDepth = 3736.127698; finalDepth = 3733.671743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1305029999999 # Actual altitude: 50.1305029999999 # Commanded vehicle depth: 3733.671743 # Seafloor depth: -3783.671743 # 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 29 # Segment length 108.994295 meters # Minimum depth: 3786.127698 meters looking forward 100.000000 meters along route # Maximum depth: 3787.654989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.127698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996643; longitude = -108.828997; duration = 435; initialDepth = 3733.484351; finalDepth = 3736.127698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3736.127698 # Seafloor depth: -3786.127698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.037947 meters # Minimum depth: 3783.484351 meters looking forward 100.000000 meters along route # Maximum depth: 3786.245103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.484351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996316; longitude = -108.827987; duration = 412; initialDepth = 3732.375228; finalDepth = 3733.484351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7607520000001 # Actual altitude: 52.7607520000001 # Commanded vehicle depth: 3733.484351 # Seafloor depth: -3786.245103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 107.920312 meters # Minimum depth: 3782.375228 meters looking forward 100.000000 meters along route # Maximum depth: 3783.224389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.375228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996008; longitude = -108.827032; duration = 431; initialDepth = 3732.428754; finalDepth = 3732.375228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7607520000001 # Actual altitude: 52.7607520000001 # Commanded vehicle depth: 3732.375228 # Seafloor depth: -3783.224389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.621932 meters # Minimum depth: 3782.428754 meters looking forward 100.000000 meters along route # Maximum depth: 3783.610413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.428754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995684; longitude = -108.826032; duration = 402; initialDepth = 3733.984009; finalDepth = 3732.428754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8491610000001 # Actual altitude: 50.8491610000001 # Commanded vehicle depth: 3732.428754 # Seafloor depth: -3782.639782 # 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; } # ####################################################### # # 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 148.711001 meters # Minimum depth: 3783.984009 meters looking forward 100.000000 meters along route # Maximum depth: 3785.730007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.984009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995383; longitude = -108.825099; duration = 594; # abortOnTimeout = True; initialDepth = 3732.371231; finalDepth = 3733.984009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.2110280000002 # Actual altitude: 50.2110280000002 # Commanded vehicle depth: 3733.984009 # Seafloor depth: -3783.984009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 129.334556 meters # Minimum depth: 3782.371231 meters looking forward 100.000000 meters along route # Maximum depth: 3783.884521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.371231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994119; longitude = -108.825591; duration = 517; # abortOnTimeout = True; initialDepth = 3733.843180; finalDepth = 3732.371231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5132899999999 # Actual altitude: 51.5132899999999 # Commanded vehicle depth: 3732.371231 # Seafloor depth: -3783.884521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.653006 meters # Minimum depth: 3783.843180 meters looking forward 100.000000 meters along route # Maximum depth: 3787.222710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.843180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994511; longitude = -108.826788; duration = 402; initialDepth = 3735.034435; finalDepth = 3733.843180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5132899999999 # Actual altitude: 51.5132899999999 # Commanded vehicle depth: 3733.84318 # Seafloor depth: -3783.843180 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 108.017254 meters # Minimum depth: 3785.034435 meters looking forward 100.000000 meters along route # Maximum depth: 3787.138902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.034435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994816; longitude = -108.827720; duration = 432; initialDepth = 3735.261536; finalDepth = 3735.034435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1044670000001 # Actual altitude: 52.1044670000001 # Commanded vehicle depth: 3735.034435 # Seafloor depth: -3787.138902 # 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 27 # Segment length 104.306794 meters # Minimum depth: 3785.261536 meters looking forward 100.000000 meters along route # Maximum depth: 3786.901615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.261536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995143; longitude = -108.828720; duration = 417; initialDepth = 3736.731041; finalDepth = 3735.261536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1044670000001 # Actual altitude: 52.1044670000001 # Commanded vehicle depth: 3735.261536 # Seafloor depth: -3785.261536 # 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 27 # Segment length 106.161587 meters # Minimum depth: 3786.731041 meters looking forward 100.000000 meters along route # Maximum depth: 3786.924304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.731041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995459; longitude = -108.829685; duration = 424; initialDepth = 3735.195131; finalDepth = 3736.731041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1454410000001 # Actual altitude: 50.1454410000001 # Commanded vehicle depth: 3736.731041 # Seafloor depth: -3786.876482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.161294 meters # Minimum depth: 3785.195131 meters looking forward 100.000000 meters along route # Maximum depth: 3787.102232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.195131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995780; longitude = -108.830668; duration = 424; initialDepth = 3734.922091; finalDepth = 3735.195131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7483620000003 # Actual altitude: 51.7483620000003 # Commanded vehicle depth: 3735.195131 # Seafloor depth: -3786.943493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.707464 meters # Minimum depth: 3784.922091 meters looking forward 100.000000 meters along route # Maximum depth: 3788.900300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.922091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996102; longitude = -108.831650; duration = 402; initialDepth = 3739.278951; finalDepth = 3734.922091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7483620000003 # Actual altitude: 51.7483620000003 # Commanded vehicle depth: 3734.922091 # Seafloor depth: -3784.956730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.998193 meters # Minimum depth: 3789.278951 meters looking forward 100.000000 meters along route # Maximum depth: 3792.999908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.278951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996407; longitude = -108.832582; duration = 403; initialDepth = 3743.222620; finalDepth = 3739.278951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.034639 # Actual altitude: 50.034639 # Commanded vehicle depth: 3739.278951 # Seafloor depth: -3789.278951 # 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 27 # Segment length 107.668687 meters # Minimum depth: 3793.222620 meters looking forward 100.000000 meters along route # Maximum depth: 3794.794364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3743.222620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996713; longitude = -108.833517; duration = 430; initialDepth = 3744.802687; finalDepth = 3743.222620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3743.22262 # Seafloor depth: -3793.222620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.651919 meters # Minimum depth: 3794.802687 meters looking forward 100.000000 meters along route # Maximum depth: 3795.401027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.802687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997039; longitude = -108.834514; duration = 418; initialDepth = 3744.177294; finalDepth = 3744.802687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3744.802687 # Seafloor depth: -3794.802687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.159866 meters # Minimum depth: 3794.177294 meters looking forward 100.000000 meters along route # Maximum depth: 3795.377169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.177294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997356; longitude = -108.835482; duration = 424; initialDepth = 3744.173885; finalDepth = 3744.177294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1998749999998 # Actual altitude: 51.1998749999998 # Commanded vehicle depth: 3744.177294 # Seafloor depth: -3795.377169 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.159574 meters # Minimum depth: 3794.173885 meters looking forward 100.000000 meters along route # Maximum depth: 3796.298667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.173885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997677; longitude = -108.836465; duration = 424; initialDepth = 3746.673884; finalDepth = 3744.173885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1998749999998 # Actual altitude: 51.1998749999998 # Commanded vehicle depth: 3744.173885 # Seafloor depth: -3794.173885 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.359019 meters # Minimum depth: 3796.673884 meters looking forward 100.000000 meters along route # Maximum depth: 3798.758791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3746.673884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997999; longitude = -108.837448; duration = 401; initialDepth = 3748.814350; finalDepth = 3746.673884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3746.673884 # Seafloor depth: -3796.673884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.343369 meters # Minimum depth: 3798.814350 meters looking forward 100.000000 meters along route # Maximum depth: 3799.204792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3748.814350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998303; longitude = -108.838377; duration = 405; initialDepth = 3748.981312; finalDepth = 3748.814350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3748.81435 # Seafloor depth: -3798.814350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 107.320131 meters # Minimum depth: 3798.981312 meters looking forward 100.000000 meters along route # Maximum depth: 3799.143780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3748.981312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998610; longitude = -108.839315; duration = 429; initialDepth = 3749.151476; finalDepth = 3748.981312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.140832 # Actual altitude: 50.140832 # Commanded vehicle depth: 3748.981312 # Seafloor depth: -3799.122144 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 104.997035 meters # Minimum depth: 3799.151476 meters looking forward 100.000000 meters along route # Maximum depth: 3800.342239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3749.151476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998935; longitude = -108.840308; duration = 419; initialDepth = 3747.634233; finalDepth = 3749.151476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.140832 # Actual altitude: 50.140832 # Commanded vehicle depth: 3749.151476 # Seafloor depth: -3799.151476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.158146 meters # Minimum depth: 3797.634233 meters looking forward 100.000000 meters along route # Maximum depth: 3800.624941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3747.634233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999253; longitude = -108.841280; duration = 424; initialDepth = 3744.653996; finalDepth = 3747.634233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8637589999998 # Actual altitude: 52.8637589999998 # Commanded vehicle depth: 3747.634233 # Seafloor depth: -3800.497992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.157854 meters # Minimum depth: 3794.653996 meters looking forward 100.000000 meters along route # Maximum depth: 3797.485031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3744.653996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999574; longitude = -108.842263; duration = 424; initialDepth = 3742.111620; finalDepth = 3744.653996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8637589999998 # Actual altitude: 52.8637589999998 # Commanded vehicle depth: 3744.653996 # Seafloor depth: -3797.485031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.157563 meters # Minimum depth: 3792.111620 meters looking forward 100.000000 meters along route # Maximum depth: 3794.593673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3742.111620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999896; longitude = -108.843245; duration = 424; initialDepth = 3740.534030; finalDepth = 3742.111620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8310350000002 # Actual altitude: 52.8310350000002 # Commanded vehicle depth: 3742.11162 # Seafloor depth: -3794.593673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.157272 meters # Minimum depth: 3790.534030 meters looking forward 100.000000 meters along route # Maximum depth: 3791.965660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.534030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000217; longitude = -108.844228; duration = 424; initialDepth = 3739.907009; finalDepth = 3740.534030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4820529999997 # Actual altitude: 52.4820529999997 # Commanded vehicle depth: 3740.53403 # Seafloor depth: -3791.965660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.156980 meters # Minimum depth: 3789.907009 meters looking forward 100.000000 meters along route # Maximum depth: 3790.755120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.907009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000539; longitude = -108.845210; duration = 424; initialDepth = 3740.219488; finalDepth = 3739.907009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.43163 # Actual altitude: 51.43163 # Commanded vehicle depth: 3739.907009 # Seafloor depth: -3790.299975 # 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 27 # Segment length 106.156689 meters # Minimum depth: 3790.219488 meters looking forward 100.000000 meters along route # Maximum depth: 3791.106553 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.219488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000861; longitude = -108.846193; duration = 424; initialDepth = 3738.495276; finalDepth = 3740.219488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.687508 # Actual altitude: 50.687508 # Commanded vehicle depth: 3740.219488 # Seafloor depth: -3790.906996 # 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 27 # Segment length 102.663742 meters # Minimum depth: 3788.495276 meters looking forward 100.000000 meters along route # Maximum depth: 3789.999277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.495276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001182; longitude = -108.847176; duration = 410; initialDepth = 3738.554626; finalDepth = 3738.495276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5040009999998 # Actual altitude: 51.5040009999998 # Commanded vehicle depth: 3738.495276 # Seafloor depth: -3789.999277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 177.190196 meters # Minimum depth: 3788.554626 meters looking forward 100.000000 meters along route # Maximum depth: 3790.961955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.554626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001493; longitude = -108.848126; duration = 708; # abortOnTimeout = True; initialDepth = 3739.099760; finalDepth = 3738.554626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5040009999998 # Actual altitude: 51.5040009999998 # Commanded vehicle depth: 3738.554626 # Seafloor depth: -3788.554626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 107.992188 meters # Minimum depth: 3789.099760 meters looking forward 100.000000 meters along route # Maximum depth: 3791.490714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.099760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002998; longitude = -108.847536; duration = 431; initialDepth = 3738.316043; finalDepth = 3739.099760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0231749999998 # Actual altitude: 52.0231749999998 # Commanded vehicle depth: 3739.09976 # Seafloor depth: -3791.122935 # 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 26 # Segment length 104.647158 meters # Minimum depth: 3788.316043 meters looking forward 100.000000 meters along route # Maximum depth: 3789.540750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.316043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003915; longitude = -108.847176; duration = 418; initialDepth = 3739.732289; finalDepth = 3738.316043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0231749999998 # Actual altitude: 52.0231749999998 # Commanded vehicle depth: 3738.316043 # Seafloor depth: -3789.034290 # 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 26 # Segment length 106.319592 meters # Minimum depth: 3789.732289 meters looking forward 100.000000 meters along route # Maximum depth: 3790.241390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.732289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004803; longitude = -108.846827; duration = 425; initialDepth = 3740.304438; finalDepth = 3739.732289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7182470000002 # Actual altitude: 50.7182470000002 # Commanded vehicle depth: 3739.732289 # Seafloor depth: -3789.732289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.319537 meters # Minimum depth: 3790.304438 meters looking forward 100.000000 meters along route # Maximum depth: 3790.966122 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.304438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005706; longitude = -108.846473; duration = 425; initialDepth = 3740.982688; finalDepth = 3740.304438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3740.304438 # Seafloor depth: -3790.304438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 106.319483 meters # Minimum depth: 3790.982688 meters looking forward 100.000000 meters along route # Maximum depth: 3791.443883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3740.982688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006609; longitude = -108.846118; duration = 425; initialDepth = 3738.156716; finalDepth = 3740.982688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3740.982688 # Seafloor depth: -3790.982688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 107.185104 meters # Minimum depth: 3788.156716 meters looking forward 100.000000 meters along route # Maximum depth: 3790.995082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.156716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007512; longitude = -108.845764; duration = 428; initialDepth = 3738.509826; finalDepth = 3738.156716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.838366 # Actual altitude: 52.838366 # Commanded vehicle depth: 3738.156716 # Seafloor depth: -3790.995082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 105.453699 meters # Minimum depth: 3788.509826 meters looking forward 100.000000 meters along route # Maximum depth: 3790.301016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.509826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008422; longitude = -108.845407; duration = 421; initialDepth = 3739.061190; finalDepth = 3738.509826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.838366 # Actual altitude: 52.838366 # Commanded vehicle depth: 3738.509826 # Seafloor depth: -3788.509826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 106.319319 meters # Minimum depth: 3789.061190 meters looking forward 100.000000 meters along route # Maximum depth: 3789.801882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3739.061190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009318; longitude = -108.845056; duration = 425; initialDepth = 3738.088189; finalDepth = 3739.061190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7406920000003 # Actual altitude: 50.7406920000003 # Commanded vehicle depth: 3739.06119 # Seafloor depth: -3789.801882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 102.722897 meters # Minimum depth: 3788.088189 meters looking forward 100.000000 meters along route # Maximum depth: 3789.005480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.088189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010221; longitude = -108.844701; duration = 410; initialDepth = 3738.100342; finalDepth = 3738.088189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.9172909999998 # Actual altitude: 50.9172909999998 # Commanded vehicle depth: 3738.088189 # Seafloor depth: -3789.005480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 177.253578 meters # Minimum depth: 3788.100342 meters looking forward 100.000000 meters along route # Maximum depth: 3790.007279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.100342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011093; longitude = -108.844359; duration = 709; # abortOnTimeout = True; initialDepth = 3737.161332; finalDepth = 3738.100342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9172909999998 # Actual altitude: 50.9172909999998 # Commanded vehicle depth: 3738.100342 # Seafloor depth: -3788.100342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 106.361748 meters # Minimum depth: 3787.161332 meters looking forward 100.000000 meters along route # Maximum depth: 3788.245035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3737.161332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011638; longitude = -108.845997; duration = 425; initialDepth = 3738.475092; finalDepth = 3737.161332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6994970000001 # Actual altitude: 50.6994970000001 # Commanded vehicle depth: 3737.161332 # Seafloor depth: -3787.860829 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.828249 meters # Minimum depth: 3788.475092 meters looking forward 100.000000 meters along route # Maximum depth: 3788.846537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3738.475092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011966; longitude = -108.846979; duration = 431; initialDepth = 3736.424822; finalDepth = 3738.475092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6994970000001 # Actual altitude: 50.6994970000001 # Commanded vehicle depth: 3738.475092 # Seafloor depth: -3788.475092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.894363 meters # Minimum depth: 3786.424822 meters looking forward 100.000000 meters along route # Maximum depth: 3788.721806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.424822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012297; longitude = -108.847975; duration = 419; initialDepth = 3735.880249; finalDepth = 3736.424822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2969840000001 # Actual altitude: 52.2969840000001 # Commanded vehicle depth: 3736.424822 # Seafloor depth: -3788.721806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.535988 meters # Minimum depth: 3785.880249 meters looking forward 100.000000 meters along route # Maximum depth: 3786.752847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3735.880249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012620; longitude = -108.848944; duration = 402; initialDepth = 3736.760077; finalDepth = 3735.880249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2969840000001 # Actual altitude: 52.2969840000001 # Commanded vehicle depth: 3735.880249 # Seafloor depth: -3786.154040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.549399 meters # Minimum depth: 3786.760077 meters looking forward 100.000000 meters along route # Maximum depth: 3787.463721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.760077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012929; longitude = -108.849873; duration = 406; initialDepth = 3733.065768; finalDepth = 3736.760077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2737910000001 # Actual altitude: 50.2737910000001 # Commanded vehicle depth: 3736.760077 # Seafloor depth: -3786.760077 # 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 25 # Segment length 106.360302 meters # Minimum depth: 3783.065768 meters looking forward 100.000000 meters along route # Maximum depth: 3786.577616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3733.065768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013242; longitude = -108.850811; duration = 425; initialDepth = 3732.935261; finalDepth = 3733.065768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5118480000001 # Actual altitude: 53.5118480000001 # Commanded vehicle depth: 3733.065768 # Seafloor depth: -3786.577616 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.360007 meters # Minimum depth: 3782.935261 meters looking forward 100.000000 meters along route # Maximum depth: 3785.051841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.935261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013569; longitude = -108.851794; duration = 425; initialDepth = 3734.967026; finalDepth = 3732.935261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5118480000001 # Actual altitude: 53.5118480000001 # Commanded vehicle depth: 3732.935261 # Seafloor depth: -3783.022882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.359713 meters # Minimum depth: 3784.967026 meters looking forward 100.000000 meters along route # Maximum depth: 3785.861818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.967026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013896; longitude = -108.852777; duration = 425; initialDepth = 3732.548867; finalDepth = 3734.967026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3824100000002 # Actual altitude: 50.3824100000002 # Commanded vehicle depth: 3734.967026 # Seafloor depth: -3785.349436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.614997 meters # Minimum depth: 3782.548867 meters looking forward 100.000000 meters along route # Maximum depth: 3784.856547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3732.548867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014223; longitude = -108.853759; duration = 430; initialDepth = 3729.360905; finalDepth = 3732.548867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3076799999999 # Actual altitude: 52.3076799999999 # Commanded vehicle depth: 3732.548867 # Seafloor depth: -3784.856547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 105.103542 meters # Minimum depth: 3779.360905 meters looking forward 100.000000 meters along route # Maximum depth: 3782.469934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.360905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014554; longitude = -108.854754; duration = 420; initialDepth = 3729.251389; finalDepth = 3729.360905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1090290000002 # Actual altitude: 53.1090290000002 # Commanded vehicle depth: 3729.360905 # Seafloor depth: -3782.469934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.358827 meters # Minimum depth: 3779.251389 meters looking forward 100.000000 meters along route # Maximum depth: 3779.815279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.251389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014878; longitude = -108.855725; duration = 425; initialDepth = 3730.051327; finalDepth = 3729.251389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1090290000002 # Actual altitude: 53.1090290000002 # Commanded vehicle depth: 3729.251389 # Seafloor depth: -3779.251389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.358533 meters # Minimum depth: 3780.051327 meters looking forward 100.000000 meters along route # Maximum depth: 3786.120839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.051327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015205; longitude = -108.856707; duration = 425; initialDepth = 3730.502421; finalDepth = 3730.051327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3730.051327 # Seafloor depth: -3780.051327 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 102.812967 meters # Minimum depth: 3780.502421 meters looking forward 100.000000 meters along route # Maximum depth: 3786.155713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3730.502421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015532; longitude = -108.857690; duration = 411; initialDepth = 3721.781165; finalDepth = 3730.502421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.653292 # Actual altitude: 55.653292 # Commanded vehicle depth: 3730.502421 # Seafloor depth: -3786.155713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 125.198150 meters # Minimum depth: 3771.781165 meters looking forward 100.000000 meters along route # Maximum depth: 3786.948446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3721.781165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.015849; longitude = -108.858640; duration = 500; # abortOnTimeout = True; initialDepth = 3734.763532; finalDepth = 3721.781165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2295770000001 # Actual altitude: 58.2295770000001 # Commanded vehicle depth: 3721.781165 # Seafloor depth: -3780.010742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.512014 meters # Minimum depth: 3784.763532 meters looking forward 100.000000 meters along route # Maximum depth: 3792.410385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3734.763532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.014735; longitude = -108.858850; duration = 406; initialDepth = 3729.284638; finalDepth = 3734.763532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2295770000001 # Actual altitude: 58.2295770000001 # Commanded vehicle depth: 3734.763532 # Seafloor depth: -3789.127088 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 104.895749 meters # Minimum depth: 3779.284638 meters looking forward 100.000000 meters along route # Maximum depth: 3783.496946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3729.284638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.013832; longitude = -108.859020; duration = 419; initialDepth = 3723.232740; finalDepth = 3729.284638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.3635560000002 # Actual altitude: 54.3635560000002 # Commanded vehicle depth: 3729.284638 # Seafloor depth: -3783.496946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 151.011559 meters # Minimum depth: 3773.232740 meters looking forward 100.000000 meters along route # Maximum depth: 3779.061198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.232740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.012899; longitude = -108.859196; duration = 604; # abortOnTimeout = True; initialDepth = 3724.178955; finalDepth = 3723.232740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.828458 # Actual altitude: 55.828458 # Commanded vehicle depth: 3723.23274 # Seafloor depth: -3779.061198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.962447 meters # Minimum depth: 3774.178955 meters looking forward 100.000000 meters along route # Maximum depth: 3793.226928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3724.178955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.011575; longitude = -108.859549; duration = 411; initialDepth = 3736.457769; finalDepth = 3724.178955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.828458 # Actual altitude: 55.828458 # Commanded vehicle depth: 3724.178955 # Seafloor depth: -3774.178955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.962463 meters # Minimum depth: 3786.457769 meters looking forward 100.000000 meters along route # Maximum depth: 3796.101599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3736.457769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.010672; longitude = -108.859789; duration = 411; initialDepth = 3728.759637; finalDepth = 3736.457769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.058086 # Actual altitude: 58.058086 # Commanded vehicle depth: 3736.457769 # Seafloor depth: -3794.515855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.394562 meters # Minimum depth: 3778.759637 meters looking forward 100.000000 meters along route # Maximum depth: 3785.114393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3728.759637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.009769; longitude = -108.860029; duration = 425; initialDepth = 3723.748537; finalDepth = 3728.759637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.058086 # Actual altitude: 58.058086 # Commanded vehicle depth: 3728.759637 # Seafloor depth: -3785.114393 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 104.101935 meters # Minimum depth: 3773.748537 meters looking forward 100.000000 meters along route # Maximum depth: 3778.485026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3723.748537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.008836; longitude = -108.860277; duration = 416; # abortOnTimeout = True; initialDepth = 3722.958990; finalDepth = 3723.748537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3547559999997 # Actual altitude: 56.3547559999997 # Commanded vehicle depth: 3723.748537 # Seafloor depth: -3778.485026 # 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 22 # Segment length 106.069191 meters # Minimum depth: 3772.958990 meters looking forward 100.000000 meters along route # Maximum depth: 3775.548455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3722.958990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007957; longitude = -108.860638; duration = 424; initialDepth = 3726.061001; finalDepth = 3722.958990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7364889999999 # Actual altitude: 54.7364889999999 # Commanded vehicle depth: 3722.95899 # Seafloor depth: -3773.742720 # 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 22 # Segment length 106.866764 meters # Minimum depth: 3776.061001 meters looking forward 100.000000 meters along route # Maximum depth: 3778.521709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3726.061001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.007061; longitude = -108.861005; duration = 427; initialDepth = 3719.904246; finalDepth = 3726.061001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7837300000001 # Actual altitude: 50.7837300000001 # Commanded vehicle depth: 3726.061001 # Seafloor depth: -3776.061001 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.866824 meters # Minimum depth: 3769.904246 meters looking forward 100.000000 meters along route # Maximum depth: 3776.732056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3719.904246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.006158; longitude = -108.861375; duration = 427; initialDepth = 3705.000911; finalDepth = 3719.904246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8278099999998 # Actual altitude: 56.8278099999998 # Commanded vehicle depth: 3719.904246 # Seafloor depth: -3776.732056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 106.866886 meters # Minimum depth: 3755.000911 meters looking forward 100.000000 meters along route # Maximum depth: 3768.342599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.000911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.005255; longitude = -108.861745; duration = 427; initialDepth = 3686.824858; finalDepth = 3705.000911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.341688 # Actual altitude: 63.341688 # Commanded vehicle depth: 3705.000911 # Seafloor depth: -3768.342599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.304714 meters # Minimum depth: 3736.824858 meters looking forward 100.000000 meters along route # Maximum depth: 3754.946104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.824858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.004352; longitude = -108.862114; duration = 413; initialDepth = 3685.251311; finalDepth = 3686.824858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 68.1212460000002 # Actual altitude: 68.1212460000002 # Commanded vehicle depth: 3686.824858 # Seafloor depth: -3754.946104 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 107.340735 meters # Minimum depth: 3735.251311 meters looking forward 100.000000 meters along route # Maximum depth: 3737.201464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3685.251311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.003479; longitude = -108.862472; duration = 429; # abortOnTimeout = True; initialDepth = 3678.032888; finalDepth = 3685.251311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1212460000002 # Actual altitude: 68.1212460000002 # Commanded vehicle depth: 3685.251311 # Seafloor depth: -3735.367513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 107.383376 meters # Minimum depth: 3728.032888 meters looking forward 100.000000 meters along route # Maximum depth: 3736.501284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.032888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.002607; longitude = -108.862013; duration = 429; initialDepth = 3678.350387; finalDepth = 3678.032888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4683959999998 # Actual altitude: 58.4683959999998 # Commanded vehicle depth: 3678.032888 # Seafloor depth: -3736.501284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.351274 meters # Minimum depth: 3728.350387 meters looking forward 100.000000 meters along route # Maximum depth: 3734.366326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3678.350387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.001734; longitude = -108.861555; duration = 429; initialDepth = 3677.757634; finalDepth = 3678.350387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4683959999998 # Actual altitude: 58.4683959999998 # Commanded vehicle depth: 3678.350387 # Seafloor depth: -3728.350387 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 139.569090 meters # Minimum depth: 3727.757634 meters looking forward 100.000000 meters along route # Maximum depth: 3735.486511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3677.757634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 24.000861; longitude = -108.861096; duration = 558; # abortOnTimeout = True; initialDepth = 3676.496196; finalDepth = 3677.757634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.728877 # Actual altitude: 57.728877 # Commanded vehicle depth: 3677.757634 # Seafloor depth: -3735.486511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.783603 meters # Minimum depth: 3726.496196 meters looking forward 100.000000 meters along route # Maximum depth: 3727.976587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3676.496196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.999638; longitude = -108.861424; duration = 403; initialDepth = 3676.961497; finalDepth = 3676.496196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.728877 # Actual altitude: 57.728877 # Commanded vehicle depth: 3676.496196 # Seafloor depth: -3727.976587 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.003947 meters # Minimum depth: 3726.961497 meters looking forward 100.000000 meters along route # Maximum depth: 3731.736031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3676.961497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.998754; longitude = -108.861660; duration = 412; initialDepth = 3682.961719; finalDepth = 3676.961497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4803910000001 # Actual altitude: 51.4803910000001 # Commanded vehicle depth: 3676.961497 # Seafloor depth: -3726.961497 # 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 20 # Segment length 103.003965 meters # Minimum depth: 3732.961719 meters looking forward 100.000000 meters along route # Maximum depth: 3740.355730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3682.961719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.997851; longitude = -108.861902; duration = 412; initialDepth = 3690.005583; finalDepth = 3682.961719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3682.961719 # Seafloor depth: -3732.961719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.003981 meters # Minimum depth: 3740.005583 meters looking forward 100.000000 meters along route # Maximum depth: 3748.615383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3690.005583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996948; longitude = -108.862144; duration = 412; initialDepth = 3696.401280; finalDepth = 3690.005583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0710279999998 # Actual altitude: 50.0710279999998 # Commanded vehicle depth: 3690.005583 # Seafloor depth: -3740.076611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 106.395683 meters # Minimum depth: 3746.401280 meters looking forward 100.000000 meters along route # Maximum depth: 3750.113346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.401280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.996046; longitude = -108.862386; duration = 425; initialDepth = 3696.768799; finalDepth = 3696.401280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.1656149999999 # Actual altitude: 53.1656149999999 # Commanded vehicle depth: 3696.40128 # Seafloor depth: -3749.566895 # 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; } # ####################################################### # # 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 115.209397 meters # Minimum depth: 3746.768799 meters looking forward 100.000000 meters along route # Maximum depth: 3756.885139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3696.768799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.995113; longitude = -108.862636; duration = 460; # abortOnTimeout = True; initialDepth = 3706.097113; finalDepth = 3696.768799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1656149999999 # Actual altitude: 53.1656149999999 # Commanded vehicle depth: 3696.768799 # Seafloor depth: -3746.768799 # 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 19 # Segment length 107.967828 meters # Minimum depth: 3756.097113 meters looking forward 100.000000 meters along route # Maximum depth: 3758.193693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3706.097113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.994150; longitude = -108.863062; duration = 431; initialDepth = 3704.972316; finalDepth = 3706.097113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1863680000001 # Actual altitude: 51.1863680000001 # Commanded vehicle depth: 3706.097113 # Seafloor depth: -3757.283481 # 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 19 # Segment length 104.360121 meters # Minimum depth: 3754.972316 meters looking forward 100.000000 meters along route # Maximum depth: 3758.051632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3704.972316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.993247; longitude = -108.863462; duration = 417; initialDepth = 3705.390784; finalDepth = 3704.972316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.1863680000001 # Actual altitude: 51.1863680000001 # Commanded vehicle depth: 3704.972316 # Seafloor depth: -3755.479186 # 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; } # ####################################################### # # 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 85.384602 meters # Minimum depth: 3755.390784 meters looking forward 100.000000 meters along route # Maximum depth: 3758.150757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3705.390784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.992374; longitude = -108.863848; duration = 341; # abortOnTimeout = True; initialDepth = 3698.231255; finalDepth = 3705.390784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7599729999997 # Actual altitude: 52.7599729999997 # Commanded vehicle depth: 3705.390784 # Seafloor depth: -3758.150757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 102.891177 meters # Minimum depth: 3748.231255 meters looking forward 100.000000 meters along route # Maximum depth: 3755.089870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3698.231255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.991664; longitude = -108.864175; duration = 411; initialDepth = 3697.537330; finalDepth = 3698.231255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8586149999996 # Actual altitude: 56.8586149999996 # Commanded vehicle depth: 3698.231255 # Seafloor depth: -3755.089870 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.298197 meters # Minimum depth: 3747.537330 meters looking forward 100.000000 meters along route # Maximum depth: 3750.149113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3697.537330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.990809; longitude = -108.864569; duration = 409; initialDepth = 3692.237719; finalDepth = 3697.537330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8586149999996 # Actual altitude: 56.8586149999996 # Commanded vehicle depth: 3697.53733 # Seafloor depth: -3748.733936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.071544 meters # Minimum depth: 3742.237719 meters looking forward 100.000000 meters along route # Maximum depth: 3747.386853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3692.237719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989959; longitude = -108.864961; duration = 416; initialDepth = 3686.360999; finalDepth = 3692.237719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1491339999998 # Actual altitude: 55.1491339999998 # Commanded vehicle depth: 3692.237719 # Seafloor depth: -3747.386853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.118118 meters # Minimum depth: 3736.360999 meters looking forward 100.000000 meters along route # Maximum depth: 3742.163843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3686.360999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.989093; longitude = -108.865360; duration = 404; initialDepth = 3670.412586; finalDepth = 3686.360999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8028439999998 # Actual altitude: 55.8028439999998 # Commanded vehicle depth: 3686.360999 # Seafloor depth: -3742.163843 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 105.251913 meters # Minimum depth: 3720.412586 meters looking forward 100.000000 meters along route # Maximum depth: 3736.023453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3670.412586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.988253; longitude = -108.865747; duration = 421; initialDepth = 3663.025960; finalDepth = 3670.412586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6108669999999 # Actual altitude: 65.6108669999999 # Commanded vehicle depth: 3670.412586 # Seafloor depth: -3736.023453 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.615923 meters # Minimum depth: 3713.025960 meters looking forward 100.000000 meters along route # Maximum depth: 3719.945995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3663.025960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.987378; longitude = -108.866151; duration = 434; initialDepth = 3659.496424; finalDepth = 3663.025960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6108669999999 # Actual altitude: 65.6108669999999 # Commanded vehicle depth: 3663.02596 # Seafloor depth: -3719.945995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.616003 meters # Minimum depth: 3709.496424 meters looking forward 100.000000 meters along route # Maximum depth: 3712.798409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3659.496424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.986475; longitude = -108.866567; duration = 434; initialDepth = 3650.964825; finalDepth = 3659.496424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9200350000001 # Actual altitude: 56.9200350000001 # Commanded vehicle depth: 3659.496424 # Seafloor depth: -3712.798409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 104.995546 meters # Minimum depth: 3700.964825 meters looking forward 100.000000 meters along route # Maximum depth: 3709.035301 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3650.964825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.985572; longitude = -108.866983; duration = 419; initialDepth = 3645.615496; finalDepth = 3650.964825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.0704759999999 # Actual altitude: 58.0704759999999 # Commanded vehicle depth: 3650.964825 # Seafloor depth: -3709.035301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 94.244696 meters # Minimum depth: 3695.615496 meters looking forward 100.000000 meters along route # Maximum depth: 3700.053711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.615496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.984700; longitude = -108.867385; duration = 376; # abortOnTimeout = True; initialDepth = 3640.689170; finalDepth = 3645.615496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0704759999999 # Actual altitude: 58.0704759999999 # Commanded vehicle depth: 3645.615496 # Seafloor depth: -3700.053711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.976454 meters # Minimum depth: 3690.689170 meters looking forward 100.000000 meters along route # Maximum depth: 3695.575782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3640.689170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.983857; longitude = -108.867512; duration = 403; initialDepth = 3632.954840; finalDepth = 3640.689170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8866119999998 # Actual altitude: 54.8866119999998 # Commanded vehicle depth: 3640.68917 # Seafloor depth: -3695.575782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.976449 meters # Minimum depth: 3682.954840 meters looking forward 100.000000 meters along route # Maximum depth: 3689.948135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.954840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982954; longitude = -108.867649; duration = 403; initialDepth = 3631.952735; finalDepth = 3632.954840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9932950000002 # Actual altitude: 56.9932950000002 # Commanded vehicle depth: 3632.95484 # Seafloor depth: -3689.948135 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.976445 meters # Minimum depth: 3681.952735 meters looking forward 100.000000 meters along route # Maximum depth: 3685.630380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3631.952735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.982051; longitude = -108.867785; duration = 403; initialDepth = 3636.588483; finalDepth = 3631.952735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9932950000002 # Actual altitude: 56.9932950000002 # Commanded vehicle depth: 3631.952735 # Seafloor depth: -3682.474005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.976439 meters # Minimum depth: 3686.588483 meters looking forward 100.000000 meters along route # Maximum depth: 3694.873535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3636.588483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.981148; longitude = -108.867921; duration = 403; initialDepth = 3645.295226; finalDepth = 3636.588483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5212700000002 # Actual altitude: 50.5212700000002 # Commanded vehicle depth: 3636.588483 # Seafloor depth: -3686.588483 # 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 17 # Segment length 100.976434 meters # Minimum depth: 3695.295226 meters looking forward 100.000000 meters along route # Maximum depth: 3700.826557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3645.295226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.980245; longitude = -108.868058; duration = 403; initialDepth = 3651.742150; finalDepth = 3645.295226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3645.295226 # Seafloor depth: -3695.295226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.342310 meters # Minimum depth: 3701.742150 meters looking forward 100.000000 meters along route # Maximum depth: 3707.282278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3651.742150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.979342; longitude = -108.868194; duration = 417; initialDepth = 3657.383789; finalDepth = 3651.742150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3651.74215 # Seafloor depth: -3701.742150 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 16 # Segment length 150.612040 meters # Minimum depth: 3707.383789 meters looking forward 100.000000 meters along route # Maximum depth: 3712.844587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3657.383789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.978410; longitude = -108.868335; duration = 602; # abortOnTimeout = True; initialDepth = 3661.428447; finalDepth = 3657.383789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3657.383789 # Seafloor depth: -3707.383789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 106.314466 meters # Minimum depth: 3711.428447 meters looking forward 100.000000 meters along route # Maximum depth: 3713.948333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3661.428447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.977150; longitude = -108.868892; duration = 425; initialDepth = 3654.500833; finalDepth = 3661.428447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.550702 # Actual altitude: 51.550702 # Commanded vehicle depth: 3661.428447 # Seafloor depth: -3712.979149 # 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 16 # Segment length 106.517528 meters # Minimum depth: 3704.500833 meters looking forward 100.000000 meters along route # Maximum depth: 3711.338448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3654.500833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.976261; longitude = -108.869285; duration = 426; initialDepth = 3638.332240; finalDepth = 3654.500833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8376149999999 # Actual altitude: 56.8376149999999 # Commanded vehicle depth: 3654.500833 # Seafloor depth: -3711.338448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 107.953832 meters # Minimum depth: 3688.332240 meters looking forward 100.000000 meters along route # Maximum depth: 3704.482386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.332240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.975370; longitude = -108.869679; duration = 431; initialDepth = 3634.951229; finalDepth = 3638.332240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.1501459999999 # Actual altitude: 66.1501459999999 # Commanded vehicle depth: 3638.33224 # Seafloor depth: -3704.482386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 105.576907 meters # Minimum depth: 3684.951229 meters looking forward 100.000000 meters along route # Maximum depth: 3688.065541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3634.951229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.974467; longitude = -108.870078; duration = 422; initialDepth = 3587.753744; finalDepth = 3634.951229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.1501459999999 # Actual altitude: 66.1501459999999 # Commanded vehicle depth: 3634.951229 # Seafloor depth: -3688.065541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 174.484111 meters # Minimum depth: 3637.753744 meters looking forward 100.000000 meters along route # Maximum depth: 3684.405396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.753744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973584; longitude = -108.870468; duration = 697; # abortOnTimeout = True; initialDepth = 3587.364305; finalDepth = 3587.753744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.651652 # Actual altitude: 96.651652 # Commanded vehicle depth: 3587.753744 # Seafloor depth: -3684.405396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.387719 meters # Minimum depth: 3637.364305 meters looking forward 100.000000 meters along route # Maximum depth: 3643.580642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.364305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973247; longitude = -108.868793; duration = 409; initialDepth = 3594.401404; finalDepth = 3587.364305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 96.651652 # Actual altitude: 96.651652 # Commanded vehicle depth: 3587.364305 # Seafloor depth: -3637.364305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 48.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.387922 meters # Minimum depth: 3644.401404 meters looking forward 100.000000 meters along route # Maximum depth: 3655.320480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.401404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.973050; longitude = -108.867811; duration = 409; initialDepth = 3606.738741; finalDepth = 3594.401404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.401404 # Seafloor depth: -3644.401404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.388126 meters # Minimum depth: 3656.738741 meters looking forward 100.000000 meters along route # Maximum depth: 3670.641906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3606.738741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972852; longitude = -108.866828; duration = 409; initialDepth = 3621.263109; finalDepth = 3606.738741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3606.738741 # Seafloor depth: -3656.738741 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.388331 meters # Minimum depth: 3671.263109 meters looking forward 100.000000 meters along route # Maximum depth: 3687.026422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.263109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972655; longitude = -108.865846; duration = 409; initialDepth = 3635.488996; finalDepth = 3621.263109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3621.263109 # Seafloor depth: -3671.263109 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.388534 meters # Minimum depth: 3685.488996 meters looking forward 100.000000 meters along route # Maximum depth: 3687.580022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.488996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972457; longitude = -108.864863; duration = 409; initialDepth = 3630.719896; finalDepth = 3635.488996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.953403 # Actual altitude: 51.953403 # Commanded vehicle depth: 3635.488996 # Seafloor depth: -3687.442399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.388738 meters # Minimum depth: 3680.719896 meters looking forward 100.000000 meters along route # Maximum depth: 3685.124962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3630.719896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972260; longitude = -108.863880; duration = 409; initialDepth = 3625.461987; finalDepth = 3630.719896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4050659999998 # Actual altitude: 54.4050659999998 # Commanded vehicle depth: 3630.719896 # Seafloor depth: -3685.124962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 108.023986 meters # Minimum depth: 3675.461987 meters looking forward 100.000000 meters along route # Maximum depth: 3679.914197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3625.461987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972062; longitude = -108.862898; duration = 432; initialDepth = 3624.870679; finalDepth = 3625.461987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4522099999999 # Actual altitude: 54.4522099999999 # Commanded vehicle depth: 3625.461987 # Seafloor depth: -3679.914197 # 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; } # ####################################################### # # 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 149.896297 meters # Minimum depth: 3674.870679 meters looking forward 100.000000 meters along route # Maximum depth: 3683.647035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3624.870679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971854; longitude = -108.861861; duration = 599; # abortOnTimeout = True; initialDepth = 3632.001113; finalDepth = 3624.870679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.4522099999999 # Actual altitude: 54.4522099999999 # Commanded vehicle depth: 3624.870679 # Seafloor depth: -3676.755493 # 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; } # ####################################################### # # 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 75.303728 meters # Minimum depth: 3682.001113 meters looking forward 100.000000 meters along route # Maximum depth: 3685.326294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.001113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970532; longitude = -108.862175; duration = 301; # abortOnTimeout = True; initialDepth = 3635.306232; finalDepth = 3632.001113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3663190000002 # Actual altitude: 52.3663190000002 # Commanded vehicle depth: 3632.001113 # Seafloor depth: -3684.367432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.386539 meters # Minimum depth: 3685.306232 meters looking forward 100.000000 meters along route # Maximum depth: 3685.786057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.306232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970677; longitude = -108.862898; duration = 409; initialDepth = 3622.238063; finalDepth = 3635.306232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3663190000002 # Actual altitude: 52.3663190000002 # Commanded vehicle depth: 3635.306232 # Seafloor depth: -3685.332610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.386335 meters # Minimum depth: 3672.238063 meters looking forward 100.000000 meters along route # Maximum depth: 3685.380536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3622.238063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970875; longitude = -108.863880; duration = 409; initialDepth = 3594.617545; finalDepth = 3622.238063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1424730000003 # Actual altitude: 63.1424730000003 # Commanded vehicle depth: 3622.238063 # Seafloor depth: -3685.380536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.386132 meters # Minimum depth: 3644.617545 meters looking forward 100.000000 meters along route # Maximum depth: 3669.684364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.617545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971072; longitude = -108.864863; duration = 409; initialDepth = 3570.998701; finalDepth = 3594.617545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0668190000001 # Actual altitude: 75.0668190000001 # Commanded vehicle depth: 3594.617545 # Seafloor depth: -3669.684364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.385927 meters # Minimum depth: 3620.998701 meters looking forward 100.000000 meters along route # Maximum depth: 3641.979929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3570.998701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971269; longitude = -108.865846; duration = 409; initialDepth = 3556.652348; finalDepth = 3570.998701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.0668190000001 # Actual altitude: 75.0668190000001 # Commanded vehicle depth: 3570.998701 # Seafloor depth: -3641.979929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.502628 meters # Minimum depth: 3606.652348 meters looking forward 100.000000 meters along route # Maximum depth: 3619.413735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.652348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971467; longitude = -108.866828; duration = 418; initialDepth = 3554.727373; finalDepth = 3556.652348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.9812280000001 # Actual altitude: 70.9812280000001 # Commanded vehicle depth: 3556.652348 # Seafloor depth: -3619.413735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.268615 meters # Minimum depth: 3604.727373 meters looking forward 100.000000 meters along route # Maximum depth: 3608.780559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3554.727373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971668; longitude = -108.867831; duration = 401; initialDepth = 3559.647587; finalDepth = 3554.727373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.761387 # Actual altitude: 62.761387 # Commanded vehicle depth: 3554.727373 # Seafloor depth: -3606.494778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.385316 meters # Minimum depth: 3609.647587 meters looking forward 100.000000 meters along route # Maximum depth: 3630.773902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3559.647587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.971861; longitude = -108.868793; duration = 409; initialDepth = 3583.992077; finalDepth = 3559.647587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7674050000001 # Actual altitude: 51.7674050000001 # Commanded vehicle depth: 3559.647587 # Seafloor depth: -3609.647587 # 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 13 # Segment length 104.916610 meters # Minimum depth: 3633.992077 meters looking forward 100.000000 meters along route # Maximum depth: 3662.892223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3583.992077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972059; longitude = -108.869776; duration = 419; initialDepth = 3596.733794; finalDepth = 3583.992077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3583.992077 # Seafloor depth: -3633.992077 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 12 # Segment length 150.025508 meters # Minimum depth: 3646.733794 meters looking forward 100.000000 meters along route # Maximum depth: 3662.699646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3596.733794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.972261; longitude = -108.870783; duration = 600; # abortOnTimeout = True; initialDepth = 3582.531202; finalDepth = 3596.733794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.9658519999998 # Actual altitude: 65.9658519999998 # Commanded vehicle depth: 3596.733794 # Seafloor depth: -3662.699646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 76.307839 meters # Minimum depth: 3632.531202 meters looking forward 100.000000 meters along route # Maximum depth: 3647.982803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3582.531202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970938; longitude = -108.871098; duration = 305; # abortOnTimeout = True; initialDepth = 3558.163376; finalDepth = 3582.531202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9658519999998 # Actual altitude: 65.9658519999998 # Commanded vehicle depth: 3582.531202 # Seafloor depth: -3646.306335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.386239 meters # Minimum depth: 3608.163376 meters looking forward 100.000000 meters along route # Maximum depth: 3629.579374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.163376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970791; longitude = -108.870366; duration = 409; initialDepth = 3531.416248; finalDepth = 3558.163376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4159979999999 # Actual altitude: 71.4159979999999 # Commanded vehicle depth: 3558.163376 # Seafloor depth: -3629.579374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.386443 meters # Minimum depth: 3581.416248 meters looking forward 100.000000 meters along route # Maximum depth: 3605.667310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3531.416248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970594; longitude = -108.869383; duration = 409; initialDepth = 3523.867330; finalDepth = 3531.416248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2510619999998 # Actual altitude: 74.2510619999998 # Commanded vehicle depth: 3531.416248 # Seafloor depth: -3605.667310 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.386648 meters # Minimum depth: 3573.867330 meters looking forward 100.000000 meters along route # Maximum depth: 3580.598539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.867330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970396; longitude = -108.868400; duration = 409; initialDepth = 3524.674923; finalDepth = 3523.867330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.2510619999998 # Actual altitude: 74.2510619999998 # Commanded vehicle depth: 3523.86733 # Seafloor depth: -3580.598539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.386850 meters # Minimum depth: 3574.674923 meters looking forward 100.000000 meters along route # Maximum depth: 3592.951603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3524.674923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970199; longitude = -108.867418; duration = 409; initialDepth = 3546.729992; finalDepth = 3524.674923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.731209 # Actual altitude: 56.731209 # Commanded vehicle depth: 3524.674923 # Seafloor depth: -3574.674923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 102.387055 meters # Minimum depth: 3596.729992 meters looking forward 100.000000 meters along route # Maximum depth: 3626.285356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.729992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.970001; longitude = -108.866435; duration = 409; initialDepth = 3574.164520; finalDepth = 3546.729992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.729992 # Seafloor depth: -3596.729992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_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 102.387259 meters # Minimum depth: 3628.375076 meters looking forward 100.000000 meters along route # Maximum depth: 3641.986023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3574.164520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969804; longitude = -108.865453; duration = 409; initialDepth = 3594.070116; finalDepth = 3574.164520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2105557874193 # Actual altitude: 54.2105557874193 # Commanded vehicle depth: 3574.16452021258 # Seafloor depth: -3628.375076 # 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 11 # Segment length 102.387462 meters # Minimum depth: 3644.070116 meters looking forward 100.000000 meters along route # Maximum depth: 3675.126130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.070116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969607; longitude = -108.864470; duration = 409; initialDepth = 3621.504753; finalDepth = 3594.070116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2105557874193 # Actual altitude: 54.2105557874193 # Commanded vehicle depth: 3594.070116 # Seafloor depth: -3644.070116 # 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 11 # Segment length 103.914624 meters # Minimum depth: 3675.388467 meters looking forward 100.000000 meters along route # Maximum depth: 3691.678008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.504753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969409; longitude = -108.863487; duration = 415; initialDepth = 3639.090361; finalDepth = 3621.504753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.8837137321002 # Actual altitude: 53.8837137321002 # Commanded vehicle depth: 3621.5047532679 # Seafloor depth: -3675.388467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 150.026296 meters # Minimum depth: 3689.090361 meters looking forward 100.000000 meters along route # Maximum depth: 3692.402311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3639.090361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969209; longitude = -108.862490; duration = 600; # abortOnTimeout = True; initialDepth = 3599.798292; finalDepth = 3639.090361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.8837137321002 # Actual altitude: 53.8837137321002 # Commanded vehicle depth: 3639.090361 # Seafloor depth: -3691.992737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 173.482350 meters # Minimum depth: 3649.798292 meters looking forward 100.000000 meters along route # Maximum depth: 3688.431519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3599.798292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967886; longitude = -108.862805; duration = 693; # abortOnTimeout = True; initialDepth = 3573.374914; finalDepth = 3599.798292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6332270000003 # Actual altitude: 88.6332270000003 # Commanded vehicle depth: 3599.798292 # Seafloor depth: -3688.431519 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.388846 meters # Minimum depth: 3623.374914 meters looking forward 100.000000 meters along route # Maximum depth: 3645.944152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3573.374914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968220; longitude = -108.864470; duration = 409; initialDepth = 3558.200321; finalDepth = 3573.374914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.6332270000003 # Actual altitude: 88.6332270000003 # Commanded vehicle depth: 3573.374914 # Seafloor depth: -3645.944152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 44.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.388643 meters # Minimum depth: 3608.200321 meters looking forward 100.000000 meters along route # Maximum depth: 3623.371094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.200321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968418; longitude = -108.865453; duration = 409; initialDepth = 3523.917909; finalDepth = 3558.200321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.569238 # Actual altitude: 72.569238 # Commanded vehicle depth: 3558.200321 # Seafloor depth: -3623.371094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.388439 meters # Minimum depth: 3573.917909 meters looking forward 100.000000 meters along route # Maximum depth: 3605.383964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3523.917909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968615; longitude = -108.866435; duration = 409; initialDepth = 3518.180623; finalDepth = 3523.917909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4660550000003 # Actual altitude: 81.4660550000003 # Commanded vehicle depth: 3523.917909 # Seafloor depth: -3605.383964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.388235 meters # Minimum depth: 3568.180623 meters looking forward 100.000000 meters along route # Maximum depth: 3572.021101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3518.180623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968813; longitude = -108.867418; duration = 409; initialDepth = 3521.153105; finalDepth = 3518.180623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.4660550000003 # Actual altitude: 81.4660550000003 # Commanded vehicle depth: 3518.180623 # Seafloor depth: -3572.021101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.388032 meters # Minimum depth: 3571.153105 meters looking forward 100.000000 meters along route # Maximum depth: 3586.034078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3521.153105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969010; longitude = -108.868400; duration = 409; initialDepth = 3538.819634; finalDepth = 3521.153105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8404779999996 # Actual altitude: 53.8404779999996 # Commanded vehicle depth: 3521.153105 # Seafloor depth: -3571.153105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.556007 meters # Minimum depth: 3588.819634 meters looking forward 100.000000 meters along route # Maximum depth: 3615.244926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3538.819634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969207; longitude = -108.869383; duration = 422; initialDepth = 3565.588933; finalDepth = 3538.819634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3538.819634 # Seafloor depth: -3588.819634 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 105.859009 meters # Minimum depth: 3615.588933 meters looking forward 100.000000 meters along route # Maximum depth: 3626.255099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3565.588933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969411; longitude = -108.870396; duration = 423; initialDepth = 3571.209882; finalDepth = 3565.588933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3565.588933 # Seafloor depth: -3615.588933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 8 # Segment length 150.025550 meters # Minimum depth: 3621.209882 meters looking forward 100.000000 meters along route # Maximum depth: 3626.164429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3571.209882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.969615; longitude = -108.871412; duration = 600; # abortOnTimeout = True; initialDepth = 3540.930891; finalDepth = 3571.209882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.9545469999998 # Actual altitude: 54.9545469999998 # Commanded vehicle depth: 3571.209882 # Seafloor depth: -3626.164429 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 172.567621 meters # Minimum depth: 3590.930891 meters looking forward 100.000000 meters along route # Maximum depth: 3623.703369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3540.930891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.968292; longitude = -108.871727; duration = 690; # abortOnTimeout = True; initialDepth = 3526.939972; finalDepth = 3540.930891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7724779999999 # Actual altitude: 82.7724779999999 # Commanded vehicle depth: 3540.930891 # Seafloor depth: -3623.703369 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.388935 meters # Minimum depth: 3576.939972 meters looking forward 100.000000 meters along route # Maximum depth: 3590.038972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3526.939972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967959; longitude = -108.870071; duration = 409; initialDepth = 3527.627868; finalDepth = 3526.939972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.7724779999999 # Actual altitude: 82.7724779999999 # Commanded vehicle depth: 3526.939972 # Seafloor depth: -3590.038972 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 41.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.389138 meters # Minimum depth: 3577.627868 meters looking forward 100.000000 meters along route # Maximum depth: 3593.688354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3527.627868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967762; longitude = -108.869088; duration = 409; initialDepth = 3546.150147; finalDepth = 3527.627868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0989999999997 # Actual altitude: 63.0989999999997 # Commanded vehicle depth: 3527.627868 # Seafloor depth: -3577.627868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.389342 meters # Minimum depth: 3596.150147 meters looking forward 100.000000 meters along route # Maximum depth: 3617.054594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3546.150147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967565; longitude = -108.868106; duration = 409; initialDepth = 3568.839296; finalDepth = 3546.150147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3546.150147 # Seafloor depth: -3596.150147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.389546 meters # Minimum depth: 3618.839296 meters looking forward 100.000000 meters along route # Maximum depth: 3625.650374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3568.839296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967367; longitude = -108.867123; duration = 409; initialDepth = 3576.071139; finalDepth = 3568.839296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3568.839296 # Seafloor depth: -3618.839296 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.389749 meters # Minimum depth: 3626.071139 meters looking forward 100.000000 meters along route # Maximum depth: 3643.906450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.071139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.967170; longitude = -108.866140; duration = 409; initialDepth = 3594.026460; finalDepth = 3576.071139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3576.071139 # Seafloor depth: -3626.071139 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.389954 meters # Minimum depth: 3644.026460 meters looking forward 100.000000 meters along route # Maximum depth: 3671.367381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3594.026460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966972; longitude = -108.865158; duration = 409; initialDepth = 3621.461765; finalDepth = 3594.026460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3594.02646 # Seafloor depth: -3644.026460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 109.943863 meters # Minimum depth: 3673.598557 meters looking forward 100.000000 meters along route # Maximum depth: 3691.657913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.461765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966775; longitude = -108.864175; duration = 439; initialDepth = 3638.792738; finalDepth = 3621.461765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.1367920027242 # Actual altitude: 52.1367920027242 # Commanded vehicle depth: 3621.46176499728 # Seafloor depth: -3673.598557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 150.026338 meters # Minimum depth: 3688.792738 meters looking forward 100.000000 meters along route # Maximum depth: 3692.438354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3638.792738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966563; longitude = -108.863120; duration = 600; # abortOnTimeout = True; initialDepth = 3635.401679; finalDepth = 3638.792738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.6456159999998 # Actual altitude: 53.6456159999998 # Commanded vehicle depth: 3638.792738 # Seafloor depth: -3692.438354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.82; 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 77.123456 meters # Minimum depth: 3685.401679 meters looking forward 100.000000 meters along route # Maximum depth: 3689.484870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3635.401679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965240; longitude = -108.863435; duration = 308; # abortOnTimeout = True; initialDepth = 3621.803764; finalDepth = 3635.401679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6456159999998 # Actual altitude: 53.6456159999998 # Commanded vehicle depth: 3635.401679 # Seafloor depth: -3688.626343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.393701 meters # Minimum depth: 3671.803764 meters looking forward 100.000000 meters along route # Maximum depth: 3684.985974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3621.803764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965389; longitude = -108.864175; duration = 409; initialDepth = 3600.853807; finalDepth = 3621.803764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.1822100000004 # Actual altitude: 63.1822100000004 # Commanded vehicle depth: 3621.803764 # Seafloor depth: -3684.985974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.393496 meters # Minimum depth: 3650.853807 meters looking forward 100.000000 meters along route # Maximum depth: 3669.030260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3600.853807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965586; longitude = -108.865158; duration = 409; initialDepth = 3585.900100; finalDepth = 3600.853807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.176453 # Actual altitude: 68.176453 # Commanded vehicle depth: 3600.853807 # Seafloor depth: -3669.030260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.393293 meters # Minimum depth: 3635.900100 meters looking forward 100.000000 meters along route # Maximum depth: 3649.960644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3585.900100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965784; longitude = -108.866140; duration = 409; initialDepth = 3570.924157; finalDepth = 3585.900100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.176453 # Actual altitude: 68.176453 # Commanded vehicle depth: 3585.9001 # Seafloor depth: -3649.960644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.393089 meters # Minimum depth: 3620.924157 meters looking forward 100.000000 meters along route # Maximum depth: 3635.776107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3570.924157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965981; longitude = -108.867123; duration = 409; initialDepth = 3560.876061; finalDepth = 3570.924157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8519500000002 # Actual altitude: 64.8519500000002 # Commanded vehicle depth: 3570.924157 # Seafloor depth: -3635.776107 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.392885 meters # Minimum depth: 3610.876061 meters looking forward 100.000000 meters along route # Maximum depth: 3619.897971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3560.876061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966179; longitude = -108.868106; duration = 409; initialDepth = 3556.340593; finalDepth = 3560.876061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8519500000002 # Actual altitude: 64.8519500000002 # Commanded vehicle depth: 3560.876061 # Seafloor depth: -3619.897971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.392681 meters # Minimum depth: 3606.340593 meters looking forward 100.000000 meters along route # Maximum depth: 3609.796650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3556.340593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966376; longitude = -108.869088; duration = 409; initialDepth = 3558.127832; finalDepth = 3556.340593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0219099999999 # Actual altitude: 59.0219099999999 # Commanded vehicle depth: 3556.340593 # Seafloor depth: -3609.796650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 102.392478 meters # Minimum depth: 3608.127832 meters looking forward 100.000000 meters along route # Maximum depth: 3626.430801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3558.127832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966574; longitude = -108.870071; duration = 409; initialDepth = 3579.778646; finalDepth = 3558.127832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4560570000003 # Actual altitude: 53.4560570000003 # Commanded vehicle depth: 3558.127832 # Seafloor depth: -3608.127832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.005317 meters # Minimum depth: 3629.778646 meters looking forward 100.000000 meters along route # Maximum depth: 3644.924895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3579.778646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966771; longitude = -108.871053; duration = 412; initialDepth = 3570.455447; finalDepth = 3579.778646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3579.778646 # Seafloor depth: -3629.778646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 4 # Segment length 150.025593 meters # Minimum depth: 3620.455447 meters looking forward 100.000000 meters along route # Maximum depth: 3635.265102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3570.455447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.966970; longitude = -108.872042; duration = 600; # abortOnTimeout = True; initialDepth = 3566.547791; finalDepth = 3570.455447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.0082980000002 # Actual altitude: 62.0082980000002 # Commanded vehicle depth: 3570.455447 # Seafloor depth: -3632.463745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; 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 3 # Segment length 176.146743 meters # Minimum depth: 3616.547791 meters looking forward 100.000000 meters along route # Maximum depth: 3655.454203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3566.547791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965647; longitude = -108.872357; duration = 704; # abortOnTimeout = True; initialDepth = 3575.903562; finalDepth = 3566.547791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.0082980000002 # Actual altitude: 62.0082980000002 # Commanded vehicle depth: 3566.547791 # Seafloor depth: -3616.547791 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.022222 meters # Minimum depth: 3625.903562 meters looking forward 100.000000 meters along route # Maximum depth: 3632.610616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3575.903562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965334; longitude = -108.870660; duration = 408; initialDepth = 3576.171694; finalDepth = 3575.903562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.707054 # Actual altitude: 56.707054 # Commanded vehicle depth: 3575.903562 # Seafloor depth: -3632.610616 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.022415 meters # Minimum depth: 3626.171694 meters looking forward 100.000000 meters along route # Maximum depth: 3636.185943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3576.171694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965153; longitude = -108.869678; duration = 408; initialDepth = 3587.571816; finalDepth = 3576.171694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.707054 # Actual altitude: 56.707054 # Commanded vehicle depth: 3576.171694 # Seafloor depth: -3626.171694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.022606 meters # Minimum depth: 3637.571816 meters looking forward 100.000000 meters along route # Maximum depth: 3656.448016 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3587.571816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964972; longitude = -108.868695; duration = 408; initialDepth = 3607.957702; finalDepth = 3587.571816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3587.571816 # Seafloor depth: -3637.571816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.022798 meters # Minimum depth: 3657.957702 meters looking forward 100.000000 meters along route # Maximum depth: 3669.592892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3607.957702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964791; longitude = -108.867713; duration = 408; initialDepth = 3620.277371; finalDepth = 3607.957702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3607.957702 # Seafloor depth: -3657.957702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.022990 meters # Minimum depth: 3670.277371 meters looking forward 100.000000 meters along route # Maximum depth: 3676.208059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3620.277371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964610; longitude = -108.866730; duration = 408; initialDepth = 3626.922494; finalDepth = 3620.277371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3620.277371 # Seafloor depth: -3670.277371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 102.023182 meters # Minimum depth: 3676.922494 meters looking forward 100.000000 meters along route # Maximum depth: 3682.236155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3626.922494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964428; longitude = -108.865747; duration = 408; initialDepth = 3632.556517; finalDepth = 3626.922494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3626.922494 # Seafloor depth: -3676.922494 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 108.779101 meters # Minimum depth: 3682.556517 meters looking forward 100.000000 meters along route # Maximum depth: 3686.723940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3632.556517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964247; longitude = -108.864765; duration = 435; initialDepth = 3629.095086; finalDepth = 3632.556517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 3632.556517 # Seafloor depth: -3682.556517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; 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 2 # Segment length 184.076833 meters # Minimum depth: 3679.095086 meters looking forward 100.000000 meters along route # Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3629.095086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.964054; longitude = -108.863717; duration = 736; # abortOnTimeout = True; initialDepth = 3628.440247; finalDepth = 3629.095086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.3341740000001 # Actual altitude: 58.3341740000001 # Commanded vehicle depth: 3629.095086 # Seafloor depth: -3687.429260 # 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; } # ####################################################### # # 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 184.076833 meters # Minimum depth: 3678.440247 meters looking forward 100.000000 meters along route # Maximum depth: 3687.030895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3776.651476 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 45.000000 meters # Behavior depth of 3628.440247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 23.965288; longitude = -108.864928; duration = 736; # abortOnTimeout = True; initialDepth = 3634.395535; finalDepth = 3628.440247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.3341740000001 # Actual altitude: 58.3341740000001 # Commanded vehicle depth: 3628.440247 # Seafloor depth: -3678.440247 # 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; } # ####################################################### # # 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: 53.0337249999998 # Sonar parameter altitude: 53.0337249999998 # Commanded vehicle depth: 3634.395535 # Seafloor depth: -3687.429260 # 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 = 26.52; 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 184.076833 meters # Minimum depth: 3684.395535 meters looking forward 100.000000 meters along route # Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route # Vehicle depth: 3634.395535 meters behavior waypoint { latitude = 23.964054; longitude = -108.863717; duration = 7268; depth = 3634.395535; 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 3634.395535 meters set by local depth and desired altitude behavior descend { duration = 13253; horizontalMode = rudder; horizontal = 2.000000; pitch = -40.000000; speed = 1.500000; maxDepth = 3627.429260; 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 184.076833 meters # Minimum depth: 3684.395535 meters looking forward 100.000000 meters along route # Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 23.964054; longitude = -108.863717; duration = 2000; depth = 50.000000; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start 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 = 0.000065; 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; } # ####################################################### ####################################################### ####################################################### #######################################################