# 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: # $Id r # # Mission Summary: # Route File: MB_LC2019Repeat_Wedge_3_dobbs_edit_m1_v8.rte # Mission File: MB_LC2019Repeat_Wedge_3_dobbs_edit_m1_v8.cfg # Distance: 108343.172535 (m) # Estimated Time: 74220 (s) 20.617 (hr) # Abort Time: 77201 (s) # Max battery life: 79200 (s) # Safety margin: 900 (s) # Ascend time: 1648 (s) # Way Points: 206 # Route Points: 1056 # 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: 6.6e-05 usec # Multibeam minimum range fraction: 0.6 # 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: 38 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 23 (m) # Desired Vehicle Altitude 1: 40 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 25 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1159.038612 (m) # Abort Vehicle Depth: 1178.038612 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1025.383881 m # Spiral descent altitude: 40 m # Forward Looking Distance: 200 (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 -121.847597 35.763729 -1075.383881 0.000000 3 # 1 -121.851010 35.760714 -1078.401978 455.042056 3 # 2 -121.851342 35.760957 -1079.450043 495.384915 3 # 3 -121.847929 35.763950 -1075.821686 948.635790 3 # 4 -121.848260 35.764193 -1076.549469 988.910562 3 # 5 -121.851688 35.761230 -1080.332581 1440.658199 3 # 6 -121.852027 35.761488 -1080.335114 1482.591414 3 # 7 -121.848577 35.764429 -1077.048279 1933.938217 3 # 8 -121.848924 35.764680 -1077.952759 1975.882680 3 # 9 -121.852337 35.761753 -1080.358246 2423.796636 3 # 10 -121.852661 35.762004 -1080.916626 2464.210148 3 # 11 -121.849241 35.764894 -1078.957275 2909.596536 3 # 12 -121.849565 35.765144 -1080.149933 2949.932910 3 # 13 -121.852971 35.762269 -1081.427429 3393.242375 3 # 14 -121.853303 35.762535 -1082.112823 3435.332239 3 # 15 -121.849897 35.765388 -1081.371948 3876.888700 3 # 16 -121.850236 35.765646 -1082.527069 3918.820781 3 # 17 -121.853634 35.762778 -1083.261444 4361.067875 3 # 18 -121.853944 35.763066 -1084.324249 4403.565690 3 # 19 -121.850560 35.765896 -1083.559540 4841.905287 3 # 20 -121.850877 35.766154 -1084.804779 4882.406313 3 # 21 -121.854254 35.763331 -1085.620850 5319.747432 3 # 22 -121.854571 35.763611 -1087.195770 5362.008717 3 # 23 -121.851162 35.766382 -1085.462280 5797.281393 3 # 24 -121.851489 35.766632 -1086.418213 5837.814735 3 # 25 -121.854902 35.763876 -1089.035339 6272.170129 3 # 26 -121.855190 35.764120 -1090.328186 6309.726650 3 # 27 -121.851821 35.766869 -1087.025269 6740.714960 3 # 28 -121.852131 35.767113 -1087.493774 6779.676052 3 # 29 -121.855492 35.764393 -1091.104614 7207.880187 3 # 30 -121.855802 35.764658 -1091.353058 7248.494630 3 # 31 -121.852440 35.767356 -1087.963623 7675.046496 3 # 32 -121.852750 35.767621 -1088.370087 7715.660260 3 # 33 -121.856089 35.764945 -1090.993774 8139.017640 3 # 34 -121.856406 35.765226 -1091.251190 8181.360109 3 # 35 -121.853059 35.767865 -1089.128540 8602.368777 3 # 36 -121.853332 35.768101 -1089.170715 8638.346617 3 # 37 -121.856686 35.765476 -1091.656677 9058.732524 3 # 38 -121.856996 35.765764 -1092.557312 9101.229696 3 # 39 -121.853664 35.768344 -1089.467194 9516.728834 3 # 40 -121.853988 35.768617 -1090.211304 9558.859054 3 # 41 -121.857269 35.766066 -1093.099579 9968.800035 3 # 42 -121.857571 35.766317 -1094.091888 10007.794877 3 # 43 -121.854298 35.768860 -1091.353760 10416.599363 3 # 44 -121.855875 35.769617 -1096.378754 10582.053907 3 # 45 -121.847147 35.762223 -1076.126465 11720.168681 3 # 46 -121.847466 35.761973 -1076.860382 11760.178775 3 # 47 -121.856194 35.769367 -1096.632233 12898.295154 3 # 48 -121.856513 35.769117 -1096.911316 12938.303327 3 # 49 -121.847785 35.761723 -1078.276031 14076.421309 3 # 50 -121.848104 35.761473 -1081.975555 14116.431526 3 # 51 -121.856832 35.768867 -1098.528778 15254.551113 3 # 52 -121.857129 35.768617 -1103.431458 15293.150464 3 # 53 -121.848423 35.761223 -1086.329865 16429.893618 3 # 54 -121.848741 35.760973 -1090.501617 16469.838834 3 # 55 -121.857470 35.768367 -1108.683472 17608.024311 3 # 56 -121.857788 35.768117 -1109.242950 17647.967616 3 # 57 -121.849060 35.760723 -1092.690796 18786.092016 3 # 58 -121.849379 35.760473 -1083.961639 18826.102477 3 # 59 -121.858107 35.767866 -1108.394196 19964.148550 3 # 60 -121.858426 35.767616 -1106.147247 20004.157092 3 # 61 -121.849720 35.760235 -1076.186493 21139.866595 3 # 62 -121.825799 35.742889 -1035.493195 24034.804633 3 # 63 -121.826322 35.742321 -1037.883392 24113.586686 3 # 64 -121.829617 35.744710 -1047.640930 24512.349208 1 # 65 -121.833023 35.746921 -1055.214355 24906.067082 1 # 66 -121.835942 35.747762 -1058.504517 25186.022508 1 # 67 -121.836871 35.748270 -1056.615204 25287.177104 1 # 68 -121.837955 35.749199 -1058.771759 25429.399567 1 # 69 -121.838574 35.750703 -1061.434326 25605.369942 1 # 70 -121.839599 35.752001 -1062.773224 25776.602260 1 # 71 -121.840586 35.753069 -1065.316833 25924.924066 1 # 72 -121.841987 35.754079 -1066.430206 26094.036160 1 # 73 -121.844169 35.754441 -1065.738861 26295.374411 1 # 74 -121.846963 35.754256 -1075.570374 26548.835645 1 # 75 -121.849749 35.754853 -1075.481384 26809.299639 1 # 76 -121.851887 35.755701 -1078.358856 27024.282606 1 # 77 -121.853376 35.756225 -1084.074249 27170.924141 1 # 78 -121.854851 35.757271 -1090.251221 27347.695220 1 # 79 -121.856052 35.758414 -1095.149567 27514.626957 1 # 80 -121.857689 35.759188 -1090.550385 27685.732464 1 # 81 -121.859716 35.760788 -1097.273956 27940.849978 1 # 82 -121.860564 35.762351 -1104.854187 28130.420382 1 # 83 -121.862399 35.762992 -1107.341644 28310.915241 1 # 84 -121.863785 35.764127 -1112.595154 28488.544163 1 # 85 -121.866284 35.766250 -1115.420135 28814.885467 1 # 86 -121.869388 35.769582 -1122.233368 29278.940059 1 # 87 -121.871223 35.771130 -1126.663635 29517.691321 1 # 88 -121.872720 35.771845 -1127.322479 29674.546430 1 # 89 -121.876597 35.772568 -1142.215118 30034.076877 1 # 90 -121.880217 35.773172 -1143.777985 30368.101518 1 # 91 -121.881522 35.773327 -1150.877228 30487.315065 1 # 92 -121.882591 35.773651 -1152.411377 30590.415272 1 # 93 -121.883542 35.774204 -1153.414673 30696.022636 1 # 94 -121.884183 35.774514 -1151.235413 30763.401039 1 # 95 -121.885112 35.774934 -1154.191803 30859.435020 1 # 96 -121.886232 35.775517 -1157.042206 30979.567690 1 # 97 -121.887183 35.776180 -1159.509766 31092.697501 1 # 98 -121.888577 35.777043 -1161.706360 31250.942700 1 # 99 -121.889329 35.777573 -1163.524902 31340.813583 1 # 100 -121.890147 35.778148 -1165.937683 31438.461750 1 # 101 -121.891297 35.779254 -1169.622772 31599.260413 1 # 102 -121.890928 35.779601 -1169.447754 31650.191713 3 # 103 -121.889911 35.778384 -1165.747284 31813.513615 1 # 104 -121.887692 35.776799 -1161.892090 32080.239166 1 # 105 -121.886807 35.776202 -1156.958771 32184.089580 1 # 106 -121.885510 35.775332 -1153.766876 32335.939231 1 # 107 -121.884448 35.774868 -1152.490540 32444.864778 1 # 108 -121.883542 35.774426 -1153.670898 32540.316407 1 # 109 -121.882451 35.773858 -1151.280396 32657.345396 1 # 110 -121.881706 35.773563 -1151.403839 32732.219317 1 # 111 -121.881035 35.773416 -1145.104736 32795.028561 1 # 112 -121.881190 35.772929 -1143.820221 32850.836275 3 # 113 -121.881927 35.773231 -1153.085571 32925.406473 1 # 114 -121.882694 35.773504 -1151.410797 33001.064945 1 # 115 -121.883424 35.773902 -1151.501984 33080.459988 1 # 116 -121.884095 35.774204 -1151.586639 33149.751089 1 # 117 -121.887323 35.775620 -1162.108612 33481.132648 1 # 118 -121.887980 35.776445 -1162.147675 33590.226673 1 # 119 -121.889447 35.777345 -1163.075165 33756.210155 1 # 120 -121.891525 35.778981 -1169.352417 34017.386010 1 # 121 -121.892005 35.780316 -1173.145660 34171.694912 1 # 122 -121.891695 35.781090 -1173.239716 34262.007025 1 # 123 -121.890523 35.782461 -1171.529175 34447.342586 3 # 124 -121.878433 35.775974 -1134.649811 35755.779740 3 # 125 -121.879826 35.774005 -1138.813568 36007.888359 3 # 126 -121.878846 35.773482 -1137.162933 36113.781595 1 # 127 -121.874651 35.773032 -1129.251801 36496.265617 1 # 128 -121.873251 35.772708 -1126.219879 36627.825433 1 # 129 -121.871681 35.772266 -1123.082214 36777.979323 1 # 130 -121.870464 35.771514 -1120.740540 36916.041967 1 # 131 -121.868717 35.769988 -1118.506256 37147.545404 1 # 132 -121.865864 35.766693 -1112.040070 37594.881126 1 # 133 -121.863122 35.764216 -1106.707703 37964.940119 1 # 134 -121.862001 35.763788 -1103.514801 38076.855483 1 # 135 -121.861154 35.763928 -1101.210510 38154.989334 1 # 136 -121.860026 35.763751 -1101.810089 38258.841669 1 # 137 -121.858964 35.763110 -1098.587036 38378.316072 1 # 138 -121.857844 35.761997 -1099.943115 38537.988766 1 # 139 -121.854748 35.759365 -1089.292053 38942.449229 1 # 140 -121.853236 35.757913 -1085.949158 39153.706230 1 # 141 -121.852116 35.757242 -1083.260712 39279.381956 1 # 142 -121.850560 35.757072 -1077.524353 39421.326088 1 # 143 -121.844243 35.755716 -1066.886261 40011.958312 1 # 144 -121.841604 35.754794 -1063.715057 40271.564354 1 # 145 -121.839746 35.753313 -1058.532776 40506.535329 1 # 146 -121.839001 35.752310 -1057.639526 40636.597262 1 # 147 -121.838073 35.750674 -1058.011658 40836.531619 1 # 148 -121.837475 35.749435 -1058.046051 40984.222579 1 # 149 -121.836478 35.748653 -1055.057892 41109.330727 1 # 150 -121.835013 35.748071 -1053.295776 41256.697449 1 # 151 -121.833406 35.747467 -1052.243408 41416.713779 1 # 152 -121.831453 35.746501 -1048.190521 41623.283152 1 # 153 -121.829617 35.745418 -1043.954163 41828.213435 1 # 154 -121.826860 35.743309 -1040.199768 42170.100721 1 # 155 -121.827737 35.742366 -1039.969788 42301.369749 3 # 156 -121.829020 35.743317 -1041.859589 42458.180748 1 # 157 -121.833030 35.746295 -1049.830505 42948.707393 1 # 158 -121.833863 35.746722 -1051.380402 43037.687604 1 # 159 -121.836812 35.747334 -1052.530365 43312.861945 1 # 160 -121.839134 35.748086 -1053.430908 43538.794091 1 # 161 -121.841677 35.749590 -1057.135468 43822.888725 1 # 162 -121.842120 35.750386 -1060.515320 43919.846678 1 # 163 -121.845216 35.751116 -1064.626801 44211.270765 1 # 164 -121.847472 35.752111 -1066.684265 44443.205902 1 # 165 -121.849418 35.752244 -1072.012054 44619.782248 1 # 166 -121.851519 35.753748 -1073.475342 44872.610203 1 # 167 -121.855957 35.755104 -1079.902771 45301.150423 1 # 168 -121.859495 35.756453 -1087.086243 45654.312447 1 # 169 -121.861603 35.756999 -1094.138733 45854.299549 1 # 170 -121.863830 35.758797 -1104.997467 46137.707310 1 # 171 -121.864633 35.759188 -1100.196777 46222.277177 1 # 172 -121.865687 35.760567 -1101.056641 46402.497134 1 # 173 -121.865709 35.762623 -1104.610870 46630.566747 1 # 174 -121.866240 35.763043 -1105.778046 46697.463175 1 # 175 -121.867412 35.763375 -1107.832581 46809.638726 1 # 176 -121.868717 35.763795 -1112.172607 46936.485802 1 # 177 -121.870206 35.764186 -1115.896027 47077.916261 1 # 178 -121.871577 35.764562 -1119.302216 47208.692733 1 # 179 -121.872219 35.765026 -1124.183380 47286.267065 1 # 180 -121.873781 35.766670 -1123.927032 47516.909753 1 # 181 -121.875639 35.768926 -1125.961456 47818.300081 1 # 182 -121.876620 35.769383 -1129.987457 47920.449378 1 # 183 -121.878426 35.770120 -1136.023468 48103.036601 1 # 184 -121.879156 35.770961 -1135.811401 48217.305732 1 # 185 -121.879981 35.772103 -1137.627869 48364.304691 3 # 186 -121.896206 35.777551 -1158.975006 49950.575887 3 # 187 -121.895285 35.778428 -1155.030182 50078.615006 3 # 188 -121.830634 35.738982 -1039.451324 57380.177944 3 # 189 -121.829824 35.739815 -1038.926056 57498.092571 3 # 190 -121.894437 35.779497 -1151.368652 64812.575060 3 # 191 -121.893530 35.780537 -1155.395172 64954.099949 3 # 192 -121.828629 35.740677 -1038.252502 72301.206842 3 # 193 -121.827922 35.741452 -1037.725159 72408.343352 3 # 194 -121.892631 35.781569 -1166.280121 79758.766453 3 # 195 -121.891636 35.782608 -1171.849701 79904.953980 3 # 196 -121.827074 35.742543 -1040.572998 87241.248000 3 # 197 -121.826189 35.743538 -1042.605499 87377.581403 3 # 198 -121.890663 35.783537 -1167.852386 94703.056650 3 # 199 -121.889778 35.784444 -1184.523743 94831.588443 3 # 200 -121.825437 35.744533 -1044.065277 102141.530334 3 # 201 -121.824649 35.745388 -1041.254944 102260.158372 3 # 202 -121.845186 35.758421 -1080.805603 104613.540511 3 # 203 -121.852470 35.750784 -1072.890656 105686.571705 3 # 204 -121.866999 35.759741 -1103.455627 107333.652385 3 # 205 -121.859945 35.766796 -1098.935516 108343.172535 3 # # A total of 1056 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 77201; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1159.038612; abortDepth = 1178.038612; minAltitude = 38.000000; abortAltitude = 15.000000; deltaDepthRestart = 23.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1648; 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 205 # Segment length 99.193661 meters # Minimum depth: 1098.854251 meters looking forward 200.000000 meters along route # Maximum depth: 1103.735610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.854251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766796; longitude = -121.859945; duration = 396; # abortOnTimeout = True; initialDepth = 1058.854251; finalDepth = 1058.854251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.081265 # Actual altitude: 40.081265 # Commanded vehicle depth: 1058.854251 # Seafloor depth: -1098.935516 # behavior reson { duration = 6; MB_Range = 160.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.05; MB_Bottom_Detect_Filter_Max_Range = 160.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 205 # Segment length 101.264387 meters # Minimum depth: 1098.854251 meters looking forward 200.000000 meters along route # Maximum depth: 1104.076220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.854251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766103; longitude = -121.860638; duration = 405; initialDepth = 1059.238880; finalDepth = 1058.854251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.8870879999999 # Actual altitude: 44.8870879999999 # Commanded vehicle depth: 1058.854251 # Seafloor depth: -1103.741339 # behavior reson { duration = 6; MB_Range = 179.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 179.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.264723 meters # Minimum depth: 1099.238880 meters looking forward 200.000000 meters along route # Maximum depth: 1104.076220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.238880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765395; longitude = -121.861346; duration = 405; initialDepth = 1059.238880; finalDepth = 1059.238880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.8870879999999 # Actual altitude: 44.8870879999999 # Commanded vehicle depth: 1059.23888 # Seafloor depth: -1100.415595 # behavior reson { duration = 6; MB_Range = 179.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 179.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.265057 meters # Minimum depth: 1099.238880 meters looking forward 200.000000 meters along route # Maximum depth: 1106.054943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.238880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764687; longitude = -121.862053; duration = 405; initialDepth = 1059.614554; finalDepth = 1059.238880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1767149999998 # Actual altitude: 41.1767149999998 # Commanded vehicle depth: 1059.23888 # Seafloor depth: -1099.596160 # behavior reson { duration = 6; MB_Range = 164.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 164.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.265392 meters # Minimum depth: 1099.614554 meters looking forward 200.000000 meters along route # Maximum depth: 1113.939435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.614554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763980; longitude = -121.862761; duration = 405; initialDepth = 1060.957967; finalDepth = 1059.614554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.4441890000001 # Actual altitude: 46.4441890000001 # Commanded vehicle depth: 1059.614554 # Seafloor depth: -1106.058743 # behavior reson { duration = 6; MB_Range = 185.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.87; MB_Bottom_Detect_Filter_Max_Range = 185.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.265726 meters # Minimum depth: 1100.957967 meters looking forward 200.000000 meters along route # Maximum depth: 1113.939435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.957967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763272; longitude = -121.863468; duration = 405; initialDepth = 1060.567784; finalDepth = 1060.957967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.475576 # Actual altitude: 50.475576 # Commanded vehicle depth: 1060.957967 # Seafloor depth: -1111.433543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.275433 meters # Minimum depth: 1100.567784 meters looking forward 200.000000 meters along route # Maximum depth: 1111.080937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.567784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762564; longitude = -121.864176; duration = 405; initialDepth = 1060.567784; finalDepth = 1060.567784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.475576 # Actual altitude: 50.475576 # Commanded vehicle depth: 1060.567784 # Seafloor depth: -1100.957844 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.280751 meters # Minimum depth: 1100.567784 meters looking forward 200.000000 meters along route # Maximum depth: 1104.074893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.567784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761857; longitude = -121.864884; duration = 405; initialDepth = 1061.741067; finalDepth = 1060.567784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9264859999998 # Actual altitude: 41.9264859999998 # Commanded vehicle depth: 1060.567784 # Seafloor depth: -1102.494270 # behavior reson { duration = 6; MB_Range = 167.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 101.281086 meters # Minimum depth: 1101.741067 meters looking forward 200.000000 meters along route # Maximum depth: 1104.074893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.741067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761149; longitude = -121.865591; duration = 405; initialDepth = 1061.741067; finalDepth = 1061.741067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9264859999998 # Actual altitude: 41.9264859999998 # Commanded vehicle depth: 1061.741067 # Seafloor depth: -1102.871496 # behavior reson { duration = 6; MB_Range = 167.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 205 # Segment length 100.163934 meters # Minimum depth: 1101.741067 meters looking forward 200.000000 meters along route # Maximum depth: 1103.453371 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.741067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760441; longitude = -121.866299; duration = 400; initialDepth = 1059.950549; finalDepth = 1061.741067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.130429 # Actual altitude: 41.130429 # Commanded vehicle depth: 1061.741067 # Seafloor depth: -1101.912198 # behavior reson { duration = 6; MB_Range = 164.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 164.52; 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 204 # Segment length 142.015136 meters # Minimum depth: 1099.950549 meters looking forward 200.000000 meters along route # Maximum depth: 1103.455627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.950549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759741; longitude = -121.866999; duration = 568; # abortOnTimeout = True; initialDepth = 1058.578152; finalDepth = 1059.950549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5050780000001 # Actual altitude: 43.5050780000001 # Commanded vehicle depth: 1059.950549 # Seafloor depth: -1103.455627 # behavior reson { duration = 6; MB_Range = 174.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 204 # Segment length 100.281454 meters # Minimum depth: 1098.578152 meters looking forward 200.000000 meters along route # Maximum depth: 1101.968955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.578152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758969; longitude = -121.865746; duration = 401; initialDepth = 1058.296679; finalDepth = 1058.578152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5050780000001 # Actual altitude: 43.5050780000001 # Commanded vehicle depth: 1058.578152 # Seafloor depth: -1099.949419 # behavior reson { duration = 6; MB_Range = 174.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.281907 meters # Minimum depth: 1098.296679 meters looking forward 200.000000 meters along route # Maximum depth: 1099.932386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.296679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758423; longitude = -121.864862; duration = 401; initialDepth = 1056.303420; finalDepth = 1058.296679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.371267 # Actual altitude: 41.371267 # Commanded vehicle depth: 1058.296679 # Seafloor depth: -1098.656977 # behavior reson { duration = 6; MB_Range = 165.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 165.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.282358 meters # Minimum depth: 1096.303420 meters looking forward 200.000000 meters along route # Maximum depth: 1098.745146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.303420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757878; longitude = -121.863977; duration = 401; initialDepth = 1054.083412; finalDepth = 1056.303420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9734470000001 # Actual altitude: 41.9734470000001 # Commanded vehicle depth: 1056.30342 # Seafloor depth: -1098.276867 # behavior reson { duration = 6; MB_Range = 167.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.282812 meters # Minimum depth: 1094.083412 meters looking forward 200.000000 meters along route # Maximum depth: 1098.226361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.083412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757333; longitude = -121.863092; duration = 401; initialDepth = 1050.552727; finalDepth = 1054.083412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1718020000001 # Actual altitude: 42.1718020000001 # Commanded vehicle depth: 1054.083412 # Seafloor depth: -1096.255214 # behavior reson { duration = 6; MB_Range = 168.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.283264 meters # Minimum depth: 1090.552727 meters looking forward 200.000000 meters along route # Maximum depth: 1096.243397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.552727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756787; longitude = -121.862208; duration = 401; initialDepth = 1047.897003; finalDepth = 1050.552727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5064179999999 # Actual altitude: 43.5064179999999 # Commanded vehicle depth: 1050.552727 # Seafloor depth: -1094.059145 # behavior reson { duration = 6; MB_Range = 174.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.283716 meters # Minimum depth: 1087.897003 meters looking forward 200.000000 meters along route # Maximum depth: 1093.967461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.897003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756242; longitude = -121.861323; duration = 401; initialDepth = 1047.000279; finalDepth = 1047.897003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5064179999999 # Actual altitude: 43.5064179999999 # Commanded vehicle depth: 1047.897003 # Seafloor depth: -1090.457378 # behavior reson { duration = 6; MB_Range = 174.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.284169 meters # Minimum depth: 1087.000279 meters looking forward 200.000000 meters along route # Maximum depth: 1090.369341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.000279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755697; longitude = -121.860439; duration = 401; initialDepth = 1045.335610; finalDepth = 1047.000279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.560375 # Actual altitude: 42.560375 # Commanded vehicle depth: 1047.000279 # Seafloor depth: -1087.852829 # behavior reson { duration = 6; MB_Range = 170.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 170.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.284621 meters # Minimum depth: 1085.335610 meters looking forward 200.000000 meters along route # Maximum depth: 1087.840780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.335610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755151; longitude = -121.859554; duration = 401; initialDepth = 1042.990680; finalDepth = 1045.335610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.67472 # Actual altitude: 41.67472 # Commanded vehicle depth: 1045.33561 # Seafloor depth: -1087.010330 # behavior reson { duration = 6; MB_Range = 166.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.285074 meters # Minimum depth: 1082.990680 meters looking forward 200.000000 meters along route # Maximum depth: 1086.981483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.990680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754606; longitude = -121.858669; duration = 401; initialDepth = 1040.316440; finalDepth = 1042.990680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.330927 # Actual altitude: 42.330927 # Commanded vehicle depth: 1042.99068 # Seafloor depth: -1085.321607 # behavior reson { duration = 6; MB_Range = 169.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.285527 meters # Minimum depth: 1080.316440 meters looking forward 200.000000 meters along route # Maximum depth: 1085.329710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.316440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754060; longitude = -121.857785; duration = 401; initialDepth = 1038.913340; finalDepth = 1040.316440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5873769999998 # Actual altitude: 42.5873769999998 # Commanded vehicle depth: 1040.31644 # Seafloor depth: -1082.903817 # behavior reson { duration = 6; MB_Range = 170.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.285979 meters # Minimum depth: 1078.913340 meters looking forward 200.000000 meters along route # Maximum depth: 1082.818417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.913340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753515; longitude = -121.856900; duration = 401; initialDepth = 1038.795019; finalDepth = 1038.913340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5873769999998 # Actual altitude: 42.5873769999998 # Commanded vehicle depth: 1038.91334 # Seafloor depth: -1080.308011 # behavior reson { duration = 6; MB_Range = 170.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.286431 meters # Minimum depth: 1078.795019 meters looking forward 200.000000 meters along route # Maximum depth: 1081.811284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.795019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752970; longitude = -121.856015; duration = 401; initialDepth = 1038.667229; finalDepth = 1038.795019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.394671 # Actual altitude: 41.394671 # Commanded vehicle depth: 1038.795019 # Seafloor depth: -1078.842844 # behavior reson { duration = 6; MB_Range = 165.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 165.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.286884 meters # Minimum depth: 1078.667229 meters looking forward 200.000000 meters along route # Maximum depth: 1082.292207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.667229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752424; longitude = -121.855131; duration = 401; initialDepth = 1034.929437; finalDepth = 1038.667229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2379050000002 # Actual altitude: 43.2379050000002 # Commanded vehicle depth: 1038.667229 # Seafloor depth: -1081.905134 # behavior reson { duration = 6; MB_Range = 172.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 172.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 101.016007 meters # Minimum depth: 1074.929437 meters looking forward 200.000000 meters along route # Maximum depth: 1082.292207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.929437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751879; longitude = -121.854246; duration = 404; initialDepth = 1032.923702; finalDepth = 1034.929437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.700036 # Actual altitude: 43.700036 # Commanded vehicle depth: 1034.929437 # Seafloor depth: -1078.629473 # behavior reson { duration = 6; MB_Range = 174.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 174.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 204 # Segment length 100.355341 meters # Minimum depth: 1072.923702 meters looking forward 200.000000 meters along route # Maximum depth: 1078.598611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.923702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751330; longitude = -121.853355; duration = 401; initialDepth = 1031.429201; finalDepth = 1032.923702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.700036 # Actual altitude: 43.700036 # Commanded vehicle depth: 1032.923702 # Seafloor depth: -1074.910235 # behavior reson { duration = 6; MB_Range = 174.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 174.80; 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 203 # Segment length 161.862114 meters # Minimum depth: 1071.429201 meters looking forward 200.000000 meters along route # Maximum depth: 1073.702870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.429201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750784; longitude = -121.852470; duration = 647; # abortOnTimeout = True; initialDepth = 1031.429201; finalDepth = 1031.429201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.986533 # Actual altitude: 41.986533 # Commanded vehicle depth: 1031.429201 # Seafloor depth: -1072.890656 # behavior reson { duration = 6; MB_Range = 167.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 167.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 203 # Segment length 101.255862 meters # Minimum depth: 1071.429201 meters looking forward 200.000000 meters along route # Maximum depth: 1076.000108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.429201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751936; longitude = -121.851371; duration = 405; initialDepth = 1031.548010; finalDepth = 1031.429201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4614550000001 # Actual altitude: 41.4614550000001 # Commanded vehicle depth: 1031.429201 # Seafloor depth: -1071.541575 # behavior reson { duration = 6; MB_Range = 165.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 165.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 100.734959 meters # Minimum depth: 1071.548010 meters looking forward 200.000000 meters along route # Maximum depth: 1079.577787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.548010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752657; longitude = -121.850684; duration = 402; initialDepth = 1031.786059; finalDepth = 1031.548010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.478196 # Actual altitude: 44.478196 # Commanded vehicle depth: 1031.54801 # Seafloor depth: -1076.026206 # behavior reson { duration = 6; MB_Range = 177.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 177.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 101.240718 meters # Minimum depth: 1071.786059 meters looking forward 200.000000 meters along route # Maximum depth: 1079.577787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.786059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753374; longitude = -121.850000; duration = 404; initialDepth = 1031.786059; finalDepth = 1031.786059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.478196 # Actual altitude: 44.478196 # Commanded vehicle depth: 1031.786059 # Seafloor depth: -1074.869608 # behavior reson { duration = 6; MB_Range = 177.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 177.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 100.748827 meters # Minimum depth: 1071.786059 meters looking forward 200.000000 meters along route # Maximum depth: 1075.881902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.786059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754094; longitude = -121.849313; duration = 402; initialDepth = 1030.131670; finalDepth = 1031.786059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0835489999999 # Actual altitude: 43.0835489999999 # Commanded vehicle depth: 1031.786059 # Seafloor depth: -1073.123907 # behavior reson { duration = 6; MB_Range = 172.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 172.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 101.225575 meters # Minimum depth: 1070.131670 meters looking forward 200.000000 meters along route # Maximum depth: 1075.881902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.131670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754811; longitude = -121.848629; duration = 404; initialDepth = 1028.897162; finalDepth = 1030.131670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2862050000001 # Actual altitude: 44.2862050000001 # Commanded vehicle depth: 1030.13167 # Seafloor depth: -1074.417875 # behavior reson { duration = 6; MB_Range = 177.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 177.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 100.762696 meters # Minimum depth: 1068.897162 meters looking forward 200.000000 meters along route # Maximum depth: 1074.348248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.897162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755532; longitude = -121.847942; duration = 403; initialDepth = 1028.683228; finalDepth = 1028.897162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2862050000001 # Actual altitude: 44.2862050000001 # Commanded vehicle depth: 1028.897162 # Seafloor depth: -1070.125791 # behavior reson { duration = 6; MB_Range = 177.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 177.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 101.210431 meters # Minimum depth: 1068.683228 meters looking forward 200.000000 meters along route # Maximum depth: 1070.007360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.683228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756249; longitude = -121.847258; duration = 404; initialDepth = 1028.683228; finalDepth = 1028.683228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.228629 # Actual altitude: 41.228629 # Commanded vehicle depth: 1028.683228 # Seafloor depth: -1068.896539 # behavior reson { duration = 6; MB_Range = 164.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 164.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 102.539715 meters # Minimum depth: 1068.683228 meters looking forward 200.000000 meters along route # Maximum depth: 1071.277385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.683228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756969; longitude = -121.846571; duration = 410; initialDepth = 1029.867184; finalDepth = 1028.683228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9979329999999 # Actual altitude: 40.9979329999999 # Commanded vehicle depth: 1028.683228 # Seafloor depth: -1069.681161 # behavior reson { duration = 6; MB_Range = 163.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 163.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 203 # Segment length 101.450297 meters # Minimum depth: 1069.867184 meters looking forward 200.000000 meters along route # Maximum depth: 1080.480111 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1029.867184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757699; longitude = -121.845875; duration = 405; initialDepth = 1030.381319; finalDepth = 1029.867184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.9979329999999 # Actual altitude: 40.9979329999999 # Commanded vehicle depth: 1029.867184 # Seafloor depth: -1070.701776 # behavior reson { duration = 6; MB_Range = 163.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 163.99; 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 202 # Segment length 124.978942 meters # Minimum depth: 1070.381319 meters looking forward 200.000000 meters along route # Maximum depth: 1086.943577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.381319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758421; longitude = -121.845186; duration = 499; # abortOnTimeout = True; initialDepth = 1042.357401; finalDepth = 1030.381319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4242839999999 # Actual altitude: 50.4242839999999 # Commanded vehicle depth: 1030.381319 # Seafloor depth: -1080.805603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 202 # Segment length 101.365405 meters # Minimum depth: 1082.357401 meters looking forward 200.000000 meters along route # Maximum depth: 1087.393044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.357401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757729; longitude = -121.844095; duration = 405; initialDepth = 1037.523168; finalDepth = 1042.357401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4242839999999 # Actual altitude: 50.4242839999999 # Commanded vehicle depth: 1042.357401 # Seafloor depth: -1087.013690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.365866 meters # Minimum depth: 1077.523168 meters looking forward 200.000000 meters along route # Maximum depth: 1087.393044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.523168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757167; longitude = -121.843211; duration = 405; initialDepth = 1022.932653; finalDepth = 1037.523168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.9990910000001 # Actual altitude: 46.9990910000001 # Commanded vehicle depth: 1037.523168 # Seafloor depth: -1084.522259 # behavior reson { duration = 6; MB_Range = 188.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 188.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 102.157831 meters # Minimum depth: 1062.932653 meters looking forward 200.000000 meters along route # Maximum depth: 1084.778781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1022.932653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756606; longitude = -121.842326; duration = 408; initialDepth = 1019.888166; finalDepth = 1022.932653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2265089999999 # Actual altitude: 54.2265089999999 # Commanded vehicle depth: 1022.932653 # Seafloor depth: -1077.159162 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.575284 meters # Minimum depth: 1059.888166 meters looking forward 200.000000 meters along route # Maximum depth: 1076.240058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.888166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756040; longitude = -121.841435; duration = 402; initialDepth = 1017.593088; finalDepth = 1019.888166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2265089999999 # Actual altitude: 54.2265089999999 # Commanded vehicle depth: 1019.888166 # Seafloor depth: -1062.925990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.367248 meters # Minimum depth: 1057.593088 meters looking forward 200.000000 meters along route # Maximum depth: 1063.875424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.593088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755483; longitude = -121.840557; duration = 405; initialDepth = 1016.475113; finalDepth = 1017.593088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.037824 # Actual altitude: 43.037824 # Commanded vehicle depth: 1017.593088 # Seafloor depth: -1059.850669 # behavior reson { duration = 6; MB_Range = 172.15; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 172.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.547112 meters # Minimum depth: 1056.475113 meters looking forward 200.000000 meters along route # Maximum depth: 1059.817406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.475113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754922; longitude = -121.839672; duration = 406; initialDepth = 1016.475113; finalDepth = 1016.475113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.2575809999998 # Actual altitude: 42.2575809999998 # Commanded vehicle depth: 1016.475113 # Seafloor depth: -1057.476778 # behavior reson { duration = 6; MB_Range = 169.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 169.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.188768 meters # Minimum depth: 1056.475113 meters looking forward 200.000000 meters along route # Maximum depth: 1066.414258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.475113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754360; longitude = -121.838786; duration = 404; initialDepth = 1017.527499; finalDepth = 1016.475113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.001665 # Actual altitude: 41.001665 # Commanded vehicle depth: 1016.475113 # Seafloor depth: -1057.465003 # behavior reson { duration = 6; MB_Range = 164.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 164.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 102.471073 meters # Minimum depth: 1057.527499 meters looking forward 200.000000 meters along route # Maximum depth: 1071.439283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.527499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753799; longitude = -121.837903; duration = 409; initialDepth = 1024.754923; finalDepth = 1017.527499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.9682559999999 # Actual altitude: 48.9682559999999 # Commanded vehicle depth: 1017.527499 # Seafloor depth: -1066.495755 # behavior reson { duration = 6; MB_Range = 195.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 195.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.266651 meters # Minimum depth: 1064.754923 meters looking forward 200.000000 meters along route # Maximum depth: 1071.444410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.754923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753232; longitude = -121.837009; duration = 401; initialDepth = 1018.570903; finalDepth = 1024.754923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.9682559999999 # Actual altitude: 48.9682559999999 # Commanded vehicle depth: 1024.754923 # Seafloor depth: -1071.442256 # behavior reson { duration = 6; MB_Range = 195.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.38; MB_Bottom_Detect_Filter_Max_Range = 195.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.369553 meters # Minimum depth: 1058.570903 meters looking forward 200.000000 meters along route # Maximum depth: 1071.394994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1018.570903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752676; longitude = -121.836134; duration = 405; initialDepth = 1017.261343; finalDepth = 1018.570903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.6873330000001 # Actual altitude: 46.6873330000001 # Commanded vehicle depth: 1018.570903 # Seafloor depth: -1064.710080 # behavior reson { duration = 6; MB_Range = 186.75; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.01; MB_Bottom_Detect_Filter_Max_Range = 186.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.860344 meters # Minimum depth: 1057.261343 meters looking forward 200.000000 meters along route # Maximum depth: 1064.312513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.261343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752115; longitude = -121.835249; duration = 407; initialDepth = 1017.261343; finalDepth = 1017.261343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.139177 # Actual altitude: 46.139177 # Commanded vehicle depth: 1017.261343 # Seafloor depth: -1058.541447 # behavior reson { duration = 6; MB_Range = 184.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 184.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.880144 meters # Minimum depth: 1057.261343 meters looking forward 200.000000 meters along route # Maximum depth: 1058.397086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.261343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751551; longitude = -121.834360; duration = 403; initialDepth = 1017.332269; finalDepth = 1017.261343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2801040000002 # Actual altitude: 41.2801040000002 # Commanded vehicle depth: 1017.261343 # Seafloor depth: -1057.331265 # behavior reson { duration = 6; MB_Range = 165.12; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 165.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.370936 meters # Minimum depth: 1057.332269 meters looking forward 200.000000 meters along route # Maximum depth: 1058.704038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.332269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750992; longitude = -121.833480; duration = 405; initialDepth = 1017.743254; finalDepth = 1017.332269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6227710000001 # Actual altitude: 40.6227710000001 # Commanded vehicle depth: 1017.332269 # Seafloor depth: -1057.955040 # behavior reson { duration = 6; MB_Range = 162.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 162.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.371397 meters # Minimum depth: 1057.743254 meters looking forward 200.000000 meters along route # Maximum depth: 1059.697466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.743254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750431; longitude = -121.832595; duration = 405; initialDepth = 1010.145418; finalDepth = 1017.743254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.072267 # Actual altitude: 41.072267 # Commanded vehicle depth: 1017.743254 # Seafloor depth: -1058.815521 # behavior reson { duration = 6; MB_Range = 164.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 164.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.371858 meters # Minimum depth: 1050.145418 meters looking forward 200.000000 meters along route # Maximum depth: 1059.697466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1010.145418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749869; longitude = -121.831711; duration = 405; initialDepth = 1004.303194; finalDepth = 1010.145418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.7114569999999 # Actual altitude: 48.7114569999999 # Commanded vehicle depth: 1010.145418 # Seafloor depth: -1058.856875 # behavior reson { duration = 6; MB_Range = 194.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 194.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 102.173592 meters # Minimum depth: 1044.303194 meters looking forward 200.000000 meters along route # Maximum depth: 1058.792920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.303194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749308; longitude = -121.830826; duration = 408; initialDepth = 1002.368563; finalDepth = 1004.303194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.7114569999999 # Actual altitude: 48.7114569999999 # Commanded vehicle depth: 1004.303194 # Seafloor depth: -1049.929986 # behavior reson { duration = 6; MB_Range = 194.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.23; MB_Bottom_Detect_Filter_Max_Range = 194.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.571507 meters # Minimum depth: 1042.368563 meters looking forward 200.000000 meters along route # Maximum depth: 1049.341772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.368563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748742; longitude = -121.829934; duration = 402; initialDepth = 1002.346186; finalDepth = 1002.368563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.626792 # Actual altitude: 45.626792 # Commanded vehicle depth: 1002.368563 # Seafloor depth: -1044.284716 # behavior reson { duration = 6; MB_Range = 182.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 182.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.373240 meters # Minimum depth: 1042.346186 meters looking forward 200.000000 meters along route # Maximum depth: 1048.182361 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.346186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748185; longitude = -121.829057; duration = 405; initialDepth = 1002.346186; finalDepth = 1002.346186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9161529999999 # Actual altitude: 41.9161529999999 # Commanded vehicle depth: 1002.346186 # Seafloor depth: -1042.380120 # behavior reson { duration = 6; MB_Range = 167.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 167.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 101.373702 meters # Minimum depth: 1042.346186 meters looking forward 200.000000 meters along route # Maximum depth: 1052.162356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.346186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747624; longitude = -121.828172; duration = 405; initialDepth = 1002.115264; finalDepth = 1002.346186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.328344 # Actual altitude: 46.328344 # Commanded vehicle depth: 1002.346186 # Seafloor depth: -1048.674530 # behavior reson { duration = 6; MB_Range = 185.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 185.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.028061 meters # Minimum depth: 1042.115264 meters looking forward 200.000000 meters along route # Maximum depth: 1052.162356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.115264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747063; longitude = -121.827288; duration = 400; initialDepth = 1002.115264; finalDepth = 1002.115264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.328344 # Actual altitude: 46.328344 # Commanded vehicle depth: 1002.115264 # Seafloor depth: -1047.149457 # behavior reson { duration = 6; MB_Range = 185.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.80; MB_Bottom_Detect_Filter_Max_Range = 185.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 100.186355 meters # Minimum depth: 1042.115264 meters looking forward 200.000000 meters along route # Maximum depth: 1046.888432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.115264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746509; longitude = -121.826415; duration = 400; initialDepth = 1001.292873; finalDepth = 1002.115264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.034193 # Actual altitude: 45.034193 # Commanded vehicle depth: 1002.115264 # Seafloor depth: -1042.165177 # behavior reson { duration = 6; MB_Range = 180.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 180.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 202 # Segment length 102.167270 meters # Minimum depth: 1041.292873 meters looking forward 200.000000 meters along route # Maximum depth: 1042.978255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.292873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745954; longitude = -121.825541; duration = 408; initialDepth = 1001.254944; finalDepth = 1001.292873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.5946869999998 # Actual altitude: 41.5946869999998 # Commanded vehicle depth: 1001.292873 # Seafloor depth: -1042.887560 # behavior reson { duration = 6; MB_Range = 166.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.38; 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 201 # Segment length 118.628038 meters # Minimum depth: 1041.254944 meters looking forward 200.000000 meters along route # Maximum depth: 1044.134267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.254944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745388; longitude = -121.824649; duration = 474; # abortOnTimeout = True; initialDepth = 1002.942777; finalDepth = 1001.254944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.5946869999998 # Actual altitude: 41.5946869999998 # Commanded vehicle depth: 1001.254944 # Seafloor depth: -1041.254944 # behavior reson { duration = 6; MB_Range = 166.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.38; 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 200 # Segment length 172.594784 meters # Minimum depth: 1042.942777 meters looking forward 200.000000 meters along route # Maximum depth: 1044.134267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.942777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744533; longitude = -121.825437; duration = 690; # abortOnTimeout = True; initialDepth = 1003.152376; finalDepth = 1002.942777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1224999999999 # Actual altitude: 41.1224999999999 # Commanded vehicle depth: 1002.942777 # Seafloor depth: -1044.065277 # behavior reson { duration = 6; MB_Range = 164.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 164.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 200 # Segment length 100.518729 meters # Minimum depth: 1043.152376 meters looking forward 200.000000 meters along route # Maximum depth: 1046.898493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.152376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745475; longitude = -121.826956; duration = 402; initialDepth = 1003.291059; finalDepth = 1003.152376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1224999999999 # Actual altitude: 41.1224999999999 # Commanded vehicle depth: 1003.152376 # Seafloor depth: -1043.553369 # behavior reson { duration = 6; MB_Range = 164.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 164.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.935572 meters # Minimum depth: 1043.291059 meters looking forward 200.000000 meters along route # Maximum depth: 1050.115326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.291059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746024; longitude = -121.827841; duration = 403; initialDepth = 1001.661653; finalDepth = 1003.291059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.647913 # Actual altitude: 43.647913 # Commanded vehicle depth: 1003.291059 # Seafloor depth: -1046.938972 # behavior reson { duration = 6; MB_Range = 174.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 174.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.100521 meters # Minimum depth: 1041.661653 meters looking forward 200.000000 meters along route # Maximum depth: 1050.115326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.661653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746575; longitude = -121.828729; duration = 400; initialDepth = 1001.661653; finalDepth = 1001.661653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.647913 # Actual altitude: 43.647913 # Commanded vehicle depth: 1001.661653 # Seafloor depth: -1043.591560 # behavior reson { duration = 6; MB_Range = 174.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 174.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.517365 meters # Minimum depth: 1041.661653 meters looking forward 200.000000 meters along route # Maximum depth: 1043.247582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.661653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747121; longitude = -121.829610; duration = 402; initialDepth = 1002.348395; finalDepth = 1001.661653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9299070000002 # Actual altitude: 41.9299070000002 # Commanded vehicle depth: 1001.661653 # Seafloor depth: -1042.366133 # behavior reson { duration = 6; MB_Range = 167.72; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.516910 meters # Minimum depth: 1042.348395 meters looking forward 200.000000 meters along route # Maximum depth: 1043.293454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.348395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747670; longitude = -121.830494; duration = 402; initialDepth = 1002.398923; finalDepth = 1002.348395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.7044800000001 # Actual altitude: 40.7044800000001 # Commanded vehicle depth: 1002.348395 # Seafloor depth: -1042.434493 # behavior reson { duration = 6; MB_Range = 162.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.516455 meters # Minimum depth: 1042.398923 meters looking forward 200.000000 meters along route # Maximum depth: 1044.029238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.398923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748219; longitude = -121.831379; duration = 402; initialDepth = 1003.320097; finalDepth = 1002.398923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.88266 # Actual altitude: 40.88266 # Commanded vehicle depth: 1002.398923 # Seafloor depth: -1043.281583 # behavior reson { duration = 6; MB_Range = 163.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 163.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.686729 meters # Minimum depth: 1043.320097 meters looking forward 200.000000 meters along route # Maximum depth: 1046.429005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.320097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748768; longitude = -121.832264; duration = 402; initialDepth = 1004.005006; finalDepth = 1003.320097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.88266 # Actual altitude: 40.88266 # Commanded vehicle depth: 1003.320097 # Seafloor depth: -1043.989904 # behavior reson { duration = 6; MB_Range = 163.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 163.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.344817 meters # Minimum depth: 1044.005006 meters looking forward 200.000000 meters along route # Maximum depth: 1049.497540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.005006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749317; longitude = -121.833150; duration = 401; initialDepth = 1006.443826; finalDepth = 1004.005006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4261759999999 # Actual altitude: 42.4261759999999 # Commanded vehicle depth: 1004.005006 # Seafloor depth: -1046.431182 # behavior reson { duration = 6; MB_Range = 169.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.515091 meters # Minimum depth: 1046.443826 meters looking forward 200.000000 meters along route # Maximum depth: 1054.041488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.443826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749865; longitude = -121.834033; duration = 402; initialDepth = 1009.730689; finalDepth = 1006.443826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.218832 # Actual altitude: 43.218832 # Commanded vehicle depth: 1006.443826 # Seafloor depth: -1049.662658 # behavior reson { duration = 6; MB_Range = 172.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 172.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.514637 meters # Minimum depth: 1049.730689 meters looking forward 200.000000 meters along route # Maximum depth: 1064.197251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1009.730689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750414; longitude = -121.834917; duration = 402; initialDepth = 1014.300753; finalDepth = 1009.730689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.4739500000001 # Actual altitude: 44.4739500000001 # Commanded vehicle depth: 1009.730689 # Seafloor depth: -1054.204639 # behavior reson { duration = 6; MB_Range = 177.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 177.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.514182 meters # Minimum depth: 1054.300753 meters looking forward 200.000000 meters along route # Maximum depth: 1068.348782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1014.300753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750962; longitude = -121.835802; duration = 402; initialDepth = 1015.448602; finalDepth = 1014.300753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.9586300000001 # Actual altitude: 49.9586300000001 # Commanded vehicle depth: 1014.300753 # Seafloor depth: -1064.259383 # behavior reson { duration = 6; MB_Range = 199.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 199.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.513727 meters # Minimum depth: 1055.448602 meters looking forward 200.000000 meters along route # Maximum depth: 1068.348782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.448602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751511; longitude = -121.836687; duration = 402; initialDepth = 1013.831487; finalDepth = 1015.448602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.9586300000001 # Actual altitude: 49.9586300000001 # Commanded vehicle depth: 1015.448602 # Seafloor depth: -1064.597320 # behavior reson { duration = 6; MB_Range = 199.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 199.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.513273 meters # Minimum depth: 1053.831487 meters looking forward 200.000000 meters along route # Maximum depth: 1064.379809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.831487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752060; longitude = -121.837571; duration = 402; initialDepth = 1013.831487; finalDepth = 1013.831487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.1487180000001 # Actual altitude: 49.1487180000001 # Commanded vehicle depth: 1013.831487 # Seafloor depth: -1055.444271 # behavior reson { duration = 6; MB_Range = 196.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.49; MB_Bottom_Detect_Filter_Max_Range = 196.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.512818 meters # Minimum depth: 1053.831487 meters looking forward 200.000000 meters along route # Maximum depth: 1056.350838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.831487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752609; longitude = -121.838456; duration = 402; initialDepth = 1014.057592; finalDepth = 1013.831487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6127840000001 # Actual altitude: 41.6127840000001 # Commanded vehicle depth: 1013.831487 # Seafloor depth: -1054.055078 # behavior reson { duration = 6; MB_Range = 166.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.512364 meters # Minimum depth: 1054.057592 meters looking forward 200.000000 meters along route # Maximum depth: 1060.335403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1014.057592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753157; longitude = -121.839341; duration = 402; initialDepth = 1016.462077; finalDepth = 1014.057592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.363566 # Actual altitude: 42.363566 # Commanded vehicle depth: 1014.057592 # Seafloor depth: -1056.421158 # behavior reson { duration = 6; MB_Range = 169.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.511909 meters # Minimum depth: 1056.462077 meters looking forward 200.000000 meters along route # Maximum depth: 1064.485455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.462077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753706; longitude = -121.840225; duration = 402; initialDepth = 1020.466784; finalDepth = 1016.462077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9357710000002 # Actual altitude: 43.9357710000002 # Commanded vehicle depth: 1016.462077 # Seafloor depth: -1060.397848 # behavior reson { duration = 6; MB_Range = 175.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 175.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.511454 meters # Minimum depth: 1060.466784 meters looking forward 200.000000 meters along route # Maximum depth: 1065.472561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.466784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754255; longitude = -121.841110; duration = 402; initialDepth = 1024.378600; finalDepth = 1020.466784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2166540000001 # Actual altitude: 44.2166540000001 # Commanded vehicle depth: 1020.466784 # Seafloor depth: -1064.683438 # behavior reson { duration = 6; MB_Range = 176.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.949485 meters # Minimum depth: 1064.378600 meters looking forward 200.000000 meters along route # Maximum depth: 1068.808224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.378600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754804; longitude = -121.841994; duration = 403; initialDepth = 1025.321547; finalDepth = 1024.378600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2166540000001 # Actual altitude: 44.2166540000001 # Commanded vehicle depth: 1024.3786 # Seafloor depth: -1065.244695 # behavior reson { duration = 6; MB_Range = 176.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.072060 meters # Minimum depth: 1065.321547 meters looking forward 200.000000 meters along route # Maximum depth: 1070.424993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.321547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755355; longitude = -121.842883; duration = 400; initialDepth = 1027.215758; finalDepth = 1025.321547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5000689999999 # Actual altitude: 43.5000689999999 # Commanded vehicle depth: 1025.321547 # Seafloor depth: -1068.821616 # behavior reson { duration = 6; MB_Range = 174.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.510091 meters # Minimum depth: 1067.215758 meters looking forward 200.000000 meters along route # Maximum depth: 1070.424993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.215758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755901; longitude = -121.843764; duration = 402; initialDepth = 1027.215758; finalDepth = 1027.215758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5000689999999 # Actual altitude: 43.5000689999999 # Commanded vehicle depth: 1027.215758 # Seafloor depth: -1067.777117 # behavior reson { duration = 6; MB_Range = 174.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.509636 meters # Minimum depth: 1067.215758 meters looking forward 200.000000 meters along route # Maximum depth: 1070.082324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.215758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756450; longitude = -121.844648; duration = 402; initialDepth = 1028.849984; finalDepth = 1027.215758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5427139999999 # Actual altitude: 41.5427139999999 # Commanded vehicle depth: 1027.215758 # Seafloor depth: -1068.758472 # behavior reson { duration = 6; MB_Range = 166.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 166.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.509182 meters # Minimum depth: 1068.849984 meters looking forward 200.000000 meters along route # Maximum depth: 1071.786282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.849984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756999; longitude = -121.845533; duration = 402; initialDepth = 1030.043733; finalDepth = 1028.849984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5427139999999 # Actual altitude: 41.5427139999999 # Commanded vehicle depth: 1028.849984 # Seafloor depth: -1070.009682 # behavior reson { duration = 6; MB_Range = 166.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 166.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.700660 meters # Minimum depth: 1070.043733 meters looking forward 200.000000 meters along route # Maximum depth: 1073.604134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.043733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757547; longitude = -121.846417; duration = 402; initialDepth = 1031.195630; finalDepth = 1030.043733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1596980000002 # Actual altitude: 41.1596980000002 # Commanded vehicle depth: 1030.043733 # Seafloor depth: -1071.121026 # behavior reson { duration = 6; MB_Range = 164.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.316340 meters # Minimum depth: 1071.195630 meters looking forward 200.000000 meters along route # Maximum depth: 1075.932246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.195630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758097; longitude = -121.847304; duration = 401; initialDepth = 1033.056928; finalDepth = 1031.195630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3404150000001 # Actual altitude: 42.3404150000001 # Commanded vehicle depth: 1031.19563 # Seafloor depth: -1073.536045 # behavior reson { duration = 6; MB_Range = 169.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.507818 meters # Minimum depth: 1073.056928 meters looking forward 200.000000 meters along route # Maximum depth: 1075.932246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.056928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758645; longitude = -121.848187; duration = 402; initialDepth = 1033.037120; finalDepth = 1033.056928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3404150000001 # Actual altitude: 42.3404150000001 # Commanded vehicle depth: 1033.056928 # Seafloor depth: -1075.128306 # behavior reson { duration = 6; MB_Range = 169.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.507364 meters # Minimum depth: 1073.037120 meters looking forward 200.000000 meters along route # Maximum depth: 1074.979601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.037120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759193; longitude = -121.849071; duration = 402; initialDepth = 1033.037120; finalDepth = 1033.037120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0713780000001 # Actual altitude: 42.0713780000001 # Commanded vehicle depth: 1033.03712 # Seafloor depth: -1073.093399 # behavior reson { duration = 6; MB_Range = 168.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.506910 meters # Minimum depth: 1073.037120 meters looking forward 200.000000 meters along route # Maximum depth: 1077.087740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.037120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759742; longitude = -121.849956; duration = 402; initialDepth = 1034.557938; finalDepth = 1033.037120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.46676 # Actual altitude: 41.46676 # Commanded vehicle depth: 1033.03712 # Seafloor depth: -1074.503880 # behavior reson { duration = 6; MB_Range = 165.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 165.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.506455 meters # Minimum depth: 1074.557938 meters looking forward 200.000000 meters along route # Maximum depth: 1080.602447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.557938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760291; longitude = -121.850840; duration = 402; initialDepth = 1037.189126; finalDepth = 1034.557938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5521510000001 # Actual altitude: 42.5521510000001 # Commanded vehicle depth: 1034.557938 # Seafloor depth: -1077.110089 # behavior reson { duration = 6; MB_Range = 170.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.506000 meters # Minimum depth: 1077.189126 meters looking forward 200.000000 meters along route # Maximum depth: 1081.704067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.189126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760840; longitude = -121.851725; duration = 402; initialDepth = 1040.693189; finalDepth = 1037.189126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.4153209999999 # Actual altitude: 43.4153209999999 # Commanded vehicle depth: 1037.189126 # Seafloor depth: -1080.604447 # behavior reson { duration = 6; MB_Range = 173.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 173.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.505547 meters # Minimum depth: 1080.693189 meters looking forward 200.000000 meters along route # Maximum depth: 1081.736009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.693189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761388; longitude = -121.852610; duration = 402; initialDepth = 1041.179801; finalDepth = 1040.693189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.4153209999999 # Actual altitude: 43.4153209999999 # Commanded vehicle depth: 1040.693189 # Seafloor depth: -1081.280351 # behavior reson { duration = 6; MB_Range = 173.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 173.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.505091 meters # Minimum depth: 1081.179801 meters looking forward 200.000000 meters along route # Maximum depth: 1083.642358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.179801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761937; longitude = -121.853494; duration = 402; initialDepth = 1041.706625; finalDepth = 1041.179801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.587162 # Actual altitude: 40.587162 # Commanded vehicle depth: 1041.179801 # Seafloor depth: -1081.711162 # behavior reson { duration = 6; MB_Range = 162.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 162.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.504638 meters # Minimum depth: 1081.706625 meters looking forward 200.000000 meters along route # Maximum depth: 1087.419538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.706625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762486; longitude = -121.854379; duration = 402; initialDepth = 1043.712770; finalDepth = 1041.706625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9703890000001 # Actual altitude: 41.9703890000001 # Commanded vehicle depth: 1041.706625 # Seafloor depth: -1083.677014 # behavior reson { duration = 6; MB_Range = 167.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.504183 meters # Minimum depth: 1083.712770 meters looking forward 200.000000 meters along route # Maximum depth: 1091.850593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.712770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763035; longitude = -121.855264; duration = 402; initialDepth = 1047.591807; finalDepth = 1043.712770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7740669999998 # Actual altitude: 43.7740669999998 # Commanded vehicle depth: 1043.71277 # Seafloor depth: -1087.486837 # behavior reson { duration = 6; MB_Range = 175.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 175.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.963398 meters # Minimum depth: 1087.591807 meters looking forward 200.000000 meters along route # Maximum depth: 1093.513533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.591807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763583; longitude = -121.856148; duration = 403; initialDepth = 1052.021746; finalDepth = 1047.591807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.293758 # Actual altitude: 44.293758 # Commanded vehicle depth: 1047.591807 # Seafloor depth: -1091.885565 # behavior reson { duration = 6; MB_Range = 177.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 177.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.043605 meters # Minimum depth: 1092.021746 meters looking forward 200.000000 meters along route # Maximum depth: 1093.513533 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.021746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764135; longitude = -121.857037; duration = 400; initialDepth = 1052.289976; finalDepth = 1052.021746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.293758 # Actual altitude: 44.293758 # Commanded vehicle depth: 1052.021746 # Seafloor depth: -1092.289998 # behavior reson { duration = 6; MB_Range = 177.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 177.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.502820 meters # Minimum depth: 1092.289976 meters looking forward 200.000000 meters along route # Maximum depth: 1095.489946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.289976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764681; longitude = -121.857917; duration = 402; initialDepth = 1053.178500; finalDepth = 1052.289976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.873327 # Actual altitude: 40.873327 # Commanded vehicle depth: 1052.289976 # Seafloor depth: -1093.163303 # behavior reson { duration = 6; MB_Range = 163.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 163.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.502366 meters # Minimum depth: 1093.178500 meters looking forward 200.000000 meters along route # Maximum depth: 1099.446465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.178500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765229; longitude = -121.858802; duration = 402; initialDepth = 1055.658978; finalDepth = 1053.178500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.373998 # Actual altitude: 42.373998 # Commanded vehicle depth: 1053.1785 # Seafloor depth: -1095.552498 # behavior reson { duration = 6; MB_Range = 169.50; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.501911 meters # Minimum depth: 1095.658978 meters looking forward 200.000000 meters along route # Maximum depth: 1102.279256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.658978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765778; longitude = -121.859687; duration = 402; initialDepth = 1059.595003; finalDepth = 1055.658978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.862834 # Actual altitude: 43.862834 # Commanded vehicle depth: 1055.658978 # Seafloor depth: -1099.521812 # behavior reson { duration = 6; MB_Range = 175.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 175.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.714591 meters # Minimum depth: 1099.595003 meters looking forward 200.000000 meters along route # Maximum depth: 1102.279256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.595003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766327; longitude = -121.860571; duration = 402; initialDepth = 1060.101313; finalDepth = 1059.595003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.862834 # Actual altitude: 43.862834 # Commanded vehicle depth: 1059.595003 # Seafloor depth: -1101.767287 # behavior reson { duration = 6; MB_Range = 175.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 175.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.287869 meters # Minimum depth: 1100.101313 meters looking forward 200.000000 meters along route # Maximum depth: 1104.551336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.101313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766877; longitude = -121.861458; duration = 401; initialDepth = 1060.815053; finalDepth = 1060.101313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.172284 # Actual altitude: 42.172284 # Commanded vehicle depth: 1060.101313 # Seafloor depth: -1100.754037 # behavior reson { duration = 6; MB_Range = 168.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.500549 meters # Minimum depth: 1100.815053 meters looking forward 200.000000 meters along route # Maximum depth: 1111.108893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.815053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767424; longitude = -121.862340; duration = 402; initialDepth = 1064.825495; finalDepth = 1060.815053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.8849539999999 # Actual altitude: 43.8849539999999 # Commanded vehicle depth: 1060.815053 # Seafloor depth: -1104.700007 # behavior reson { duration = 6; MB_Range = 175.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 175.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.500094 meters # Minimum depth: 1104.825495 meters looking forward 200.000000 meters along route # Maximum depth: 1116.687986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.825495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767973; longitude = -121.863225; duration = 402; initialDepth = 1071.403741; finalDepth = 1064.825495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.470955 # Actual altitude: 46.470955 # Commanded vehicle depth: 1064.825495 # Seafloor depth: -1111.296450 # behavior reson { duration = 6; MB_Range = 185.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 185.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.499640 meters # Minimum depth: 1111.403741 meters looking forward 200.000000 meters along route # Maximum depth: 1117.493497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.403741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768522; longitude = -121.864110; duration = 401; initialDepth = 1067.804919; finalDepth = 1071.403741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.470955 # Actual altitude: 46.470955 # Commanded vehicle depth: 1071.403741 # Seafloor depth: -1116.703776 # behavior reson { duration = 6; MB_Range = 185.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 185.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.499186 meters # Minimum depth: 1107.804919 meters looking forward 200.000000 meters along route # Maximum depth: 1117.493497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.804919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769071; longitude = -121.864994; duration = 401; initialDepth = 1067.193198; finalDepth = 1067.804919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.549941 # Actual altitude: 49.549941 # Commanded vehicle depth: 1067.804919 # Seafloor depth: -1117.354860 # behavior reson { duration = 6; MB_Range = 198.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 198.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.498731 meters # Minimum depth: 1107.193198 meters looking forward 200.000000 meters along route # Maximum depth: 1117.254711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.193198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769619; longitude = -121.865879; duration = 401; initialDepth = 1067.193198; finalDepth = 1067.193198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.549941 # Actual altitude: 49.549941 # Commanded vehicle depth: 1067.193198 # Seafloor depth: -1107.801080 # behavior reson { duration = 6; MB_Range = 198.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 198.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.498278 meters # Minimum depth: 1107.193198 meters looking forward 200.000000 meters along route # Maximum depth: 1112.887663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.193198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770168; longitude = -121.866764; duration = 401; initialDepth = 1070.032797; finalDepth = 1067.193198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.747748 # Actual altitude: 42.747748 # Commanded vehicle depth: 1067.193198 # Seafloor depth: -1109.940946 # behavior reson { duration = 6; MB_Range = 170.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 170.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.497823 meters # Minimum depth: 1110.032797 meters looking forward 200.000000 meters along route # Maximum depth: 1114.878007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1070.032797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770717; longitude = -121.867648; duration = 401; initialDepth = 1072.954923; finalDepth = 1070.032797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.91661 # Actual altitude: 42.91661 # Commanded vehicle depth: 1070.032797 # Seafloor depth: -1112.949407 # behavior reson { duration = 6; MB_Range = 171.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 171.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.497369 meters # Minimum depth: 1112.954923 meters looking forward 200.000000 meters along route # Maximum depth: 1116.964187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.954923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771265; longitude = -121.868533; duration = 401; initialDepth = 1074.886547; finalDepth = 1072.954923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.91661 # Actual altitude: 42.91661 # Commanded vehicle depth: 1072.954923 # Seafloor depth: -1114.929208 # behavior reson { duration = 6; MB_Range = 171.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 171.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.496915 meters # Minimum depth: 1114.886547 meters looking forward 200.000000 meters along route # Maximum depth: 1119.718124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1074.886547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771814; longitude = -121.869417; duration = 401; initialDepth = 1077.086546; finalDepth = 1074.886547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.091856 # Actual altitude: 42.091856 # Commanded vehicle depth: 1074.886547 # Seafloor depth: -1116.978403 # behavior reson { duration = 6; MB_Range = 168.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 168.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.977311 meters # Minimum depth: 1117.086546 meters looking forward 200.000000 meters along route # Maximum depth: 1121.383180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1077.086546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772363; longitude = -121.870302; duration = 403; initialDepth = 1079.714949; finalDepth = 1077.086546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.640627 # Actual altitude: 42.640627 # Commanded vehicle depth: 1077.086546 # Seafloor depth: -1119.727173 # behavior reson { duration = 6; MB_Range = 170.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 170.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.015156 meters # Minimum depth: 1119.714949 meters looking forward 200.000000 meters along route # Maximum depth: 1123.064413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.714949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772914; longitude = -121.871191; duration = 400; initialDepth = 1081.345249; finalDepth = 1079.714949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.640627 # Actual altitude: 42.640627 # Commanded vehicle depth: 1079.714949 # Seafloor depth: -1121.369654 # behavior reson { duration = 6; MB_Range = 170.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 170.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.495552 meters # Minimum depth: 1121.345249 meters looking forward 200.000000 meters along route # Maximum depth: 1124.670298 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.345249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773460; longitude = -121.872071; duration = 401; initialDepth = 1083.134268; finalDepth = 1081.345249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7601790000001 # Actual altitude: 41.7601790000001 # Commanded vehicle depth: 1081.345249 # Seafloor depth: -1123.105428 # behavior reson { duration = 6; MB_Range = 167.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 167.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.495098 meters # Minimum depth: 1123.134268 meters looking forward 200.000000 meters along route # Maximum depth: 1127.274148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.134268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774009; longitude = -121.872956; duration = 401; initialDepth = 1084.778866; finalDepth = 1083.134268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7601790000001 # Actual altitude: 41.7601790000001 # Commanded vehicle depth: 1083.134268 # Seafloor depth: -1124.708468 # behavior reson { duration = 6; MB_Range = 167.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 167.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.494645 meters # Minimum depth: 1124.778866 meters looking forward 200.000000 meters along route # Maximum depth: 1128.960206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.778866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774558; longitude = -121.873840; duration = 401; initialDepth = 1087.360903; finalDepth = 1084.778866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5265529999999 # Actual altitude: 42.5265529999999 # Commanded vehicle depth: 1084.778866 # Seafloor depth: -1127.305419 # behavior reson { duration = 6; MB_Range = 170.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 170.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.728522 meters # Minimum depth: 1127.360903 meters looking forward 200.000000 meters along route # Maximum depth: 1131.145553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.360903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775107; longitude = -121.874725; duration = 402; initialDepth = 1089.004333; finalDepth = 1087.360903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5265529999999 # Actual altitude: 42.5265529999999 # Commanded vehicle depth: 1087.360903 # Seafloor depth: -1128.974450 # behavior reson { duration = 6; MB_Range = 170.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 170.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.259403 meters # Minimum depth: 1129.004333 meters looking forward 200.000000 meters along route # Maximum depth: 1132.932720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1089.004333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775657; longitude = -121.875612; duration = 401; initialDepth = 1090.961261; finalDepth = 1089.004333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1415379999999 # Actual altitude: 42.1415379999999 # Commanded vehicle depth: 1089.004333 # Seafloor depth: -1131.145871 # behavior reson { duration = 6; MB_Range = 168.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 168.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.493282 meters # Minimum depth: 1130.961261 meters looking forward 200.000000 meters along route # Maximum depth: 1135.076077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1090.961261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776204; longitude = -121.876494; duration = 401; initialDepth = 1092.999340; finalDepth = 1090.961261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1415379999999 # Actual altitude: 42.1415379999999 # Commanded vehicle depth: 1090.961261 # Seafloor depth: -1132.987736 # behavior reson { duration = 6; MB_Range = 168.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 168.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.492828 meters # Minimum depth: 1132.999340 meters looking forward 200.000000 meters along route # Maximum depth: 1138.126964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1092.999340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776753; longitude = -121.877379; duration = 401; initialDepth = 1095.185813; finalDepth = 1092.999340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1437819999999 # Actual altitude: 42.1437819999999 # Commanded vehicle depth: 1092.99934 # Seafloor depth: -1135.143122 # behavior reson { duration = 6; MB_Range = 168.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.492374 meters # Minimum depth: 1135.185813 meters looking forward 200.000000 meters along route # Maximum depth: 1138.661888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.185813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777302; longitude = -121.878264; duration = 401; initialDepth = 1098.169217; finalDepth = 1095.185813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.972998 # Actual altitude: 42.972998 # Commanded vehicle depth: 1095.185813 # Seafloor depth: -1138.158811 # behavior reson { duration = 6; MB_Range = 171.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 171.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.491919 meters # Minimum depth: 1138.169217 meters looking forward 200.000000 meters along route # Maximum depth: 1138.745054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.169217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777850; longitude = -121.879148; duration = 401; initialDepth = 1098.327381; finalDepth = 1098.169217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.972998 # Actual altitude: 42.972998 # Commanded vehicle depth: 1098.169217 # Seafloor depth: -1138.399330 # behavior reson { duration = 6; MB_Range = 171.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 171.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.491466 meters # Minimum depth: 1138.327381 meters looking forward 200.000000 meters along route # Maximum depth: 1140.973906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.327381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778399; longitude = -121.880033; duration = 401; initialDepth = 1098.810812; finalDepth = 1098.327381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.417878 # Actual altitude: 40.417878 # Commanded vehicle depth: 1098.327381 # Seafloor depth: -1138.745259 # behavior reson { duration = 6; MB_Range = 161.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 161.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.491011 meters # Minimum depth: 1138.810812 meters looking forward 200.000000 meters along route # Maximum depth: 1143.462420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.810812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778948; longitude = -121.880917; duration = 401; initialDepth = 1101.001483; finalDepth = 1098.810812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.188529 # Actual altitude: 42.188529 # Commanded vehicle depth: 1098.810812 # Seafloor depth: -1140.999341 # behavior reson { duration = 6; MB_Range = 168.75; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 168.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.490558 meters # Minimum depth: 1141.001483 meters looking forward 200.000000 meters along route # Maximum depth: 1146.949519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1101.001483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779496; longitude = -121.881802; duration = 401; initialDepth = 1103.551567; finalDepth = 1101.001483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4954929999999 # Actual altitude: 42.4954929999999 # Commanded vehicle depth: 1101.001483 # Seafloor depth: -1143.496976 # behavior reson { duration = 6; MB_Range = 169.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 169.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.490103 meters # Minimum depth: 1143.551567 meters looking forward 200.000000 meters along route # Maximum depth: 1150.982133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.551567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780045; longitude = -121.882687; duration = 401; initialDepth = 1107.095375; finalDepth = 1103.551567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.460266 # Actual altitude: 43.460266 # Commanded vehicle depth: 1103.551567 # Seafloor depth: -1147.011833 # behavior reson { duration = 6; MB_Range = 173.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 173.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.489650 meters # Minimum depth: 1147.095375 meters looking forward 200.000000 meters along route # Maximum depth: 1153.181483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1107.095375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780594; longitude = -121.883571; duration = 401; initialDepth = 1111.064980; finalDepth = 1107.095375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.904004 # Actual altitude: 43.904004 # Commanded vehicle depth: 1107.095375 # Seafloor depth: -1150.999379 # behavior reson { duration = 6; MB_Range = 175.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 175.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.489196 meters # Minimum depth: 1151.064980 meters looking forward 200.000000 meters along route # Maximum depth: 1156.872536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.064980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781143; longitude = -121.884456; duration = 401; initialDepth = 1113.228062; finalDepth = 1111.064980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.904004 # Actual altitude: 43.904004 # Commanded vehicle depth: 1111.06498 # Seafloor depth: -1153.196495 # behavior reson { duration = 6; MB_Range = 175.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 175.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.488741 meters # Minimum depth: 1153.228062 meters looking forward 200.000000 meters along route # Maximum depth: 1159.719397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1113.228062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781691; longitude = -121.885340; duration = 401; initialDepth = 1117.038117; finalDepth = 1113.228062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7445420000001 # Actual altitude: 43.7445420000001 # Commanded vehicle depth: 1113.228062 # Seafloor depth: -1156.972604 # behavior reson { duration = 6; MB_Range = 174.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 174.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.488288 meters # Minimum depth: 1157.038117 meters looking forward 200.000000 meters along route # Maximum depth: 1165.863927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.038117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782240; longitude = -121.886225; duration = 401; initialDepth = 1119.792791; finalDepth = 1117.038117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7445420000001 # Actual altitude: 43.7445420000001 # Commanded vehicle depth: 1117.038117 # Seafloor depth: -1159.781582 # behavior reson { duration = 6; MB_Range = 174.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 174.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.487834 meters # Minimum depth: 1159.792791 meters looking forward 200.000000 meters along route # Maximum depth: 1177.625563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.792791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782789; longitude = -121.887110; duration = 401; initialDepth = 1126.204623; finalDepth = 1119.792791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.2167219999999 # Actual altitude: 46.2167219999999 # Commanded vehicle depth: 1119.792791 # Seafloor depth: -1166.009513 # behavior reson { duration = 6; MB_Range = 184.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.73; MB_Bottom_Detect_Filter_Max_Range = 184.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 100.487379 meters # Minimum depth: 1166.204623 meters looking forward 200.000000 meters along route # Maximum depth: 1181.922590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1126.204623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.783338; longitude = -121.887994; duration = 401; initialDepth = 1138.038612; finalDepth = 1126.204623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5800509999999 # Actual altitude: 51.5800509999999 # Commanded vehicle depth: 1126.204623 # Seafloor depth: -1177.784674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 200 # Segment length 102.133633 meters # Minimum depth: 1178.038612 meters looking forward 200.000000 meters along route # Maximum depth: 1184.438662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1138.038612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.783886; longitude = -121.888879; duration = 408; initialDepth = 1127.132540; finalDepth = 1138.038612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.5800509999999 # Actual altitude: 51.5800509999999 # Commanded vehicle depth: 1138.038612 # Seafloor depth: -1181.945599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 199 # Segment length 128.531793 meters # Minimum depth: 1167.132540 meters looking forward 200.000000 meters along route # Maximum depth: 1184.876272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1127.132540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.784444; longitude = -121.889778; duration = 514; # abortOnTimeout = True; initialDepth = 1127.132540; finalDepth = 1127.132540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.3912029999999 # Actual altitude: 57.3912029999999 # Commanded vehicle depth: 1127.13254 # Seafloor depth: -1184.523743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 198 # Segment length 87.109411 meters # Minimum depth: 1167.132540 meters looking forward 200.000000 meters along route # Maximum depth: 1184.876272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1127.132540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.783537; longitude = -121.890663; duration = 348; # abortOnTimeout = True; initialDepth = 1127.378019; finalDepth = 1127.132540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3912029999999 # Actual altitude: 57.3912029999999 # Commanded vehicle depth: 1127.13254 # Seafloor depth: -1167.852386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 198 # Segment length 100.513132 meters # Minimum depth: 1167.378019 meters looking forward 200.000000 meters along route # Maximum depth: 1169.225582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1127.378019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.783061; longitude = -121.889896; duration = 402; initialDepth = 1124.364962; finalDepth = 1127.378019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.615215 # Actual altitude: 41.615215 # Commanded vehicle depth: 1127.378019 # Seafloor depth: -1168.993234 # behavior reson { duration = 6; MB_Range = 166.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.473481 meters # Minimum depth: 1164.364962 meters looking forward 200.000000 meters along route # Maximum depth: 1169.225582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1124.364962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782512; longitude = -121.889011; duration = 401; initialDepth = 1122.054808; finalDepth = 1124.364962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7308599999999 # Actual altitude: 43.7308599999999 # Commanded vehicle depth: 1124.364962 # Seafloor depth: -1168.095822 # behavior reson { duration = 6; MB_Range = 174.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 174.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.493988 meters # Minimum depth: 1162.054808 meters looking forward 200.000000 meters along route # Maximum depth: 1168.123619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1122.054808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781964; longitude = -121.888127; duration = 401; initialDepth = 1119.338833; finalDepth = 1122.054808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7308599999999 # Actual altitude: 43.7308599999999 # Commanded vehicle depth: 1122.054808 # Seafloor depth: -1164.271426 # behavior reson { duration = 6; MB_Range = 174.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 174.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.494441 meters # Minimum depth: 1159.338833 meters looking forward 200.000000 meters along route # Maximum depth: 1164.134548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.338833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781415; longitude = -121.887242; duration = 401; initialDepth = 1114.587666; finalDepth = 1119.338833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.865401 # Actual altitude: 42.865401 # Commanded vehicle depth: 1119.338833 # Seafloor depth: -1162.204234 # behavior reson { duration = 6; MB_Range = 171.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 171.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.494895 meters # Minimum depth: 1154.587666 meters looking forward 200.000000 meters along route # Maximum depth: 1162.418782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.587666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780866; longitude = -121.886358; duration = 401; initialDepth = 1114.308162; finalDepth = 1114.587666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.6659520000001 # Actual altitude: 44.6659520000001 # Commanded vehicle depth: 1114.587666 # Seafloor depth: -1159.253618 # behavior reson { duration = 6; MB_Range = 178.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.495350 meters # Minimum depth: 1154.308162 meters looking forward 200.000000 meters along route # Maximum depth: 1159.173411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.308162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780317; longitude = -121.885473; duration = 401; initialDepth = 1109.620650; finalDepth = 1114.308162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.6659520000001 # Actual altitude: 44.6659520000001 # Commanded vehicle depth: 1114.308162 # Seafloor depth: -1154.568917 # behavior reson { duration = 6; MB_Range = 178.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.947121 meters # Minimum depth: 1149.620650 meters looking forward 200.000000 meters along route # Maximum depth: 1158.662017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1109.620650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779768; longitude = -121.884589; duration = 403; initialDepth = 1105.606893; finalDepth = 1109.620650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.0143599999999 # Actual altitude: 49.0143599999999 # Commanded vehicle depth: 1109.62065 # Seafloor depth: -1158.635010 # behavior reson { duration = 6; MB_Range = 196.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 196.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.044940 meters # Minimum depth: 1145.606893 meters looking forward 200.000000 meters along route # Maximum depth: 1158.600755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1105.606893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779217; longitude = -121.883700; duration = 400; initialDepth = 1101.576774; finalDepth = 1105.606893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.0143599999999 # Actual altitude: 49.0143599999999 # Commanded vehicle depth: 1105.606893 # Seafloor depth: -1149.594739 # behavior reson { duration = 6; MB_Range = 196.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.41; MB_Bottom_Detect_Filter_Max_Range = 196.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.496711 meters # Minimum depth: 1141.576774 meters looking forward 200.000000 meters along route # Maximum depth: 1149.490883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1101.576774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778671; longitude = -121.882819; duration = 401; initialDepth = 1098.773538; finalDepth = 1101.576774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.987846 # Actual altitude: 43.987846 # Commanded vehicle depth: 1101.576774 # Seafloor depth: -1145.504936 # behavior reson { duration = 6; MB_Range = 175.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 175.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.497165 meters # Minimum depth: 1138.773538 meters looking forward 200.000000 meters along route # Maximum depth: 1145.458949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.773538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778122; longitude = -121.881935; duration = 401; initialDepth = 1098.314358; finalDepth = 1098.773538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9281620000002 # Actual altitude: 43.9281620000002 # Commanded vehicle depth: 1098.773538 # Seafloor depth: -1141.514082 # behavior reson { duration = 6; MB_Range = 175.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 175.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.497620 meters # Minimum depth: 1138.314358 meters looking forward 200.000000 meters along route # Maximum depth: 1141.503588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.314358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777573; longitude = -121.881050; duration = 401; initialDepth = 1098.314358; finalDepth = 1098.314358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.740544 # Actual altitude: 42.740544 # Commanded vehicle depth: 1098.314358 # Seafloor depth: -1138.751881 # behavior reson { duration = 6; MB_Range = 170.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 170.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.633829 meters # Minimum depth: 1138.314358 meters looking forward 200.000000 meters along route # Maximum depth: 1143.197764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.314358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777024; longitude = -121.880165; duration = 402; initialDepth = 1094.589506; finalDepth = 1098.314358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6177699999998 # Actual altitude: 42.6177699999998 # Commanded vehicle depth: 1098.314358 # Seafloor depth: -1140.932128 # behavior reson { duration = 6; MB_Range = 170.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 170.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.362772 meters # Minimum depth: 1134.589506 meters looking forward 200.000000 meters along route # Maximum depth: 1143.197764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.589506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776475; longitude = -121.879280; duration = 401; initialDepth = 1092.904728; finalDepth = 1094.589506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.861926 # Actual altitude: 44.861926 # Commanded vehicle depth: 1094.589506 # Seafloor depth: -1139.451432 # behavior reson { duration = 6; MB_Range = 179.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 179.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.498982 meters # Minimum depth: 1132.904728 meters looking forward 200.000000 meters along route # Maximum depth: 1139.296160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1092.904728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775927; longitude = -121.878396; duration = 401; initialDepth = 1091.226789; finalDepth = 1092.904728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.861926 # Actual altitude: 44.861926 # Commanded vehicle depth: 1092.904728 # Seafloor depth: -1134.575752 # behavior reson { duration = 6; MB_Range = 179.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 179.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.499436 meters # Minimum depth: 1131.226789 meters looking forward 200.000000 meters along route # Maximum depth: 1134.471129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1091.226789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775378; longitude = -121.877512; duration = 401; initialDepth = 1089.657817; finalDepth = 1091.226789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.671024 # Actual altitude: 41.671024 # Commanded vehicle depth: 1091.226789 # Seafloor depth: -1132.883017 # behavior reson { duration = 6; MB_Range = 166.68; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.499890 meters # Minimum depth: 1129.657817 meters looking forward 200.000000 meters along route # Maximum depth: 1132.888228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1089.657817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774829; longitude = -121.876627; duration = 401; initialDepth = 1088.628906; finalDepth = 1089.657817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6562280000001 # Actual altitude: 41.6562280000001 # Commanded vehicle depth: 1089.657817 # Seafloor depth: -1131.180111 # behavior reson { duration = 6; MB_Range = 166.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.500344 meters # Minimum depth: 1128.628906 meters looking forward 200.000000 meters along route # Maximum depth: 1131.166708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.628906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774280; longitude = -121.875742; duration = 402; initialDepth = 1087.176277; finalDepth = 1088.628906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5222939999999 # Actual altitude: 41.5222939999999 # Commanded vehicle depth: 1088.628906 # Seafloor depth: -1129.635583 # behavior reson { duration = 6; MB_Range = 166.09; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 166.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.500798 meters # Minimum depth: 1127.176277 meters looking forward 200.000000 meters along route # Maximum depth: 1129.611739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.176277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773732; longitude = -121.874858; duration = 402; initialDepth = 1086.031254; finalDepth = 1087.176277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.481548 # Actual altitude: 41.481548 # Commanded vehicle depth: 1087.176277 # Seafloor depth: -1128.657825 # behavior reson { duration = 6; MB_Range = 165.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.501252 meters # Minimum depth: 1126.031254 meters looking forward 200.000000 meters along route # Maximum depth: 1128.613664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1086.031254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773183; longitude = -121.873973; duration = 402; initialDepth = 1084.857114; finalDepth = 1086.031254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.481548 # Actual altitude: 41.481548 # Commanded vehicle depth: 1086.031254 # Seafloor depth: -1127.116382 # behavior reson { duration = 6; MB_Range = 165.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.501706 meters # Minimum depth: 1124.857114 meters looking forward 200.000000 meters along route # Maximum depth: 1127.136655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.857114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772634; longitude = -121.873089; duration = 402; initialDepth = 1084.772815; finalDepth = 1084.857114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.275312 # Actual altitude: 41.275312 # Commanded vehicle depth: 1084.857114 # Seafloor depth: -1126.132426 # behavior reson { duration = 6; MB_Range = 165.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 165.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.502161 meters # Minimum depth: 1124.772815 meters looking forward 200.000000 meters along route # Maximum depth: 1126.570101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.772815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772085; longitude = -121.872204; duration = 402; initialDepth = 1082.836709; finalDepth = 1084.772815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.275312 # Actual altitude: 41.275312 # Commanded vehicle depth: 1084.772815 # Seafloor depth: -1124.824336 # behavior reson { duration = 6; MB_Range = 165.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 165.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.502615 meters # Minimum depth: 1122.836709 meters looking forward 200.000000 meters along route # Maximum depth: 1126.570101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1082.836709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771536; longitude = -121.871319; duration = 402; initialDepth = 1079.989593; finalDepth = 1082.836709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.643298 # Actual altitude: 43.643298 # Commanded vehicle depth: 1082.836709 # Seafloor depth: -1126.480007 # behavior reson { duration = 6; MB_Range = 174.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 174.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.754538 meters # Minimum depth: 1119.989593 meters looking forward 200.000000 meters along route # Maximum depth: 1126.425515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.989593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770988; longitude = -121.870435; duration = 403; initialDepth = 1078.742220; finalDepth = 1079.989593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.643298 # Actual altitude: 43.643298 # Commanded vehicle depth: 1079.989593 # Seafloor depth: -1122.811646 # behavior reson { duration = 6; MB_Range = 174.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 174.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.252054 meters # Minimum depth: 1118.742220 meters looking forward 200.000000 meters along route # Maximum depth: 1122.824214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.742220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770437; longitude = -121.869548; duration = 401; initialDepth = 1074.932900; finalDepth = 1078.742220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.8220530000001 # Actual altitude: 42.8220530000001 # Commanded vehicle depth: 1078.74222 # Seafloor depth: -1120.074261 # behavior reson { duration = 6; MB_Range = 171.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 171.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.503978 meters # Minimum depth: 1114.932900 meters looking forward 200.000000 meters along route # Maximum depth: 1120.615783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1074.932900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769890; longitude = -121.868665; duration = 402; initialDepth = 1071.611847; finalDepth = 1074.932900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.690564 # Actual altitude: 43.690564 # Commanded vehicle depth: 1074.9329 # Seafloor depth: -1118.623464 # behavior reson { duration = 6; MB_Range = 174.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 174.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.504431 meters # Minimum depth: 1111.611847 meters looking forward 200.000000 meters along route # Maximum depth: 1118.559307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.611847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769341; longitude = -121.867781; duration = 402; initialDepth = 1069.280018; finalDepth = 1071.611847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.690564 # Actual altitude: 43.690564 # Commanded vehicle depth: 1071.611847 # Seafloor depth: -1114.826785 # behavior reson { duration = 6; MB_Range = 174.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 174.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.504886 meters # Minimum depth: 1109.280018 meters looking forward 200.000000 meters along route # Maximum depth: 1114.807481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.280018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768792; longitude = -121.866896; duration = 402; initialDepth = 1068.136710; finalDepth = 1069.280018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2149380000001 # Actual altitude: 43.2149380000001 # Commanded vehicle depth: 1069.280018 # Seafloor depth: -1111.556435 # behavior reson { duration = 6; MB_Range = 172.86; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 172.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.505340 meters # Minimum depth: 1108.136710 meters looking forward 200.000000 meters along route # Maximum depth: 1111.451692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1068.136710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768244; longitude = -121.866012; duration = 402; initialDepth = 1065.964080; finalDepth = 1068.136710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.276417 # Actual altitude: 42.276417 # Commanded vehicle depth: 1068.13671 # Seafloor depth: -1109.214770 # behavior reson { duration = 6; MB_Range = 169.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 169.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.505795 meters # Minimum depth: 1105.964080 meters looking forward 200.000000 meters along route # Maximum depth: 1109.201748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1065.964080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767695; longitude = -121.865127; duration = 402; initialDepth = 1063.633441; finalDepth = 1065.964080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1728780000001 # Actual altitude: 42.1728780000001 # Commanded vehicle depth: 1065.96408 # Seafloor depth: -1108.136958 # behavior reson { duration = 6; MB_Range = 168.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.506248 meters # Minimum depth: 1103.633441 meters looking forward 200.000000 meters along route # Maximum depth: 1108.189186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.633441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767146; longitude = -121.864242; duration = 402; initialDepth = 1062.188013; finalDepth = 1063.633441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.310524 # Actual altitude: 42.310524 # Commanded vehicle depth: 1063.633441 # Seafloor depth: -1105.943965 # behavior reson { duration = 6; MB_Range = 169.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.506703 meters # Minimum depth: 1102.188013 meters looking forward 200.000000 meters along route # Maximum depth: 1105.873002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1062.188013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766597; longitude = -121.863358; duration = 402; initialDepth = 1061.229455; finalDepth = 1062.188013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.310524 # Actual altitude: 42.310524 # Commanded vehicle depth: 1062.188013 # Seafloor depth: -1103.626407 # behavior reson { duration = 6; MB_Range = 169.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.507157 meters # Minimum depth: 1101.229455 meters looking forward 200.000000 meters along route # Maximum depth: 1103.537210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.229455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766048; longitude = -121.862473; duration = 402; initialDepth = 1058.483575; finalDepth = 1061.229455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.438394 # Actual altitude: 41.438394 # Commanded vehicle depth: 1061.229455 # Seafloor depth: -1102.193897 # behavior reson { duration = 6; MB_Range = 165.75; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 165.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.507612 meters # Minimum depth: 1098.483575 meters looking forward 200.000000 meters along route # Maximum depth: 1102.628224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.483575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765500; longitude = -121.861589; duration = 402; initialDepth = 1056.990490; finalDepth = 1058.483575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7122489999999 # Actual altitude: 42.7122489999999 # Commanded vehicle depth: 1058.483575 # Seafloor depth: -1101.195824 # behavior reson { duration = 6; MB_Range = 170.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 170.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.875261 meters # Minimum depth: 1096.990490 meters looking forward 200.000000 meters along route # Maximum depth: 1101.125209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.990490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764951; longitude = -121.860704; duration = 403; initialDepth = 1055.671884; finalDepth = 1056.990490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7122489999999 # Actual altitude: 42.7122489999999 # Commanded vehicle depth: 1056.99049 # Seafloor depth: -1098.471264 # behavior reson { duration = 6; MB_Range = 170.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 170.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.141325 meters # Minimum depth: 1095.671884 meters looking forward 200.000000 meters along route # Maximum depth: 1098.424743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.671884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764400; longitude = -121.859816; duration = 400; initialDepth = 1053.862503; finalDepth = 1055.671884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4807740000001 # Actual altitude: 41.4807740000001 # Commanded vehicle depth: 1055.671884 # Seafloor depth: -1096.979264 # behavior reson { duration = 6; MB_Range = 165.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.508975 meters # Minimum depth: 1093.862503 meters looking forward 200.000000 meters along route # Maximum depth: 1096.938911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.862503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763853; longitude = -121.858935; duration = 402; initialDepth = 1051.945695; finalDepth = 1053.862503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.751833 # Actual altitude: 41.751833 # Commanded vehicle depth: 1053.862503 # Seafloor depth: -1095.614336 # behavior reson { duration = 6; MB_Range = 167.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 167.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.509429 meters # Minimum depth: 1091.945695 meters looking forward 200.000000 meters along route # Maximum depth: 1095.642079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.945695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763304; longitude = -121.858050; duration = 402; initialDepth = 1049.751692; finalDepth = 1051.945695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.867197 # Actual altitude: 41.867197 # Commanded vehicle depth: 1051.945695 # Seafloor depth: -1093.812892 # behavior reson { duration = 6; MB_Range = 167.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 167.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.509883 meters # Minimum depth: 1089.751692 meters looking forward 200.000000 meters along route # Maximum depth: 1093.763575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.751692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762755; longitude = -121.857165; duration = 402; initialDepth = 1047.309384; finalDepth = 1049.751692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1513749999999 # Actual altitude: 42.1513749999999 # Commanded vehicle depth: 1049.751692 # Seafloor depth: -1091.903067 # behavior reson { duration = 6; MB_Range = 168.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.561930 meters # Minimum depth: 1087.309384 meters looking forward 200.000000 meters along route # Maximum depth: 1091.771836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.309384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762207; longitude = -121.856281; duration = 402; initialDepth = 1045.111288; finalDepth = 1047.309384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4391480000002 # Actual altitude: 42.4391480000002 # Commanded vehicle depth: 1047.309384 # Seafloor depth: -1089.748532 # behavior reson { duration = 6; MB_Range = 169.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.459200 meters # Minimum depth: 1085.111288 meters looking forward 200.000000 meters along route # Maximum depth: 1089.740674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.111288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761658; longitude = -121.855396; duration = 401; initialDepth = 1042.645855; finalDepth = 1045.111288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4391480000002 # Actual altitude: 42.4391480000002 # Commanded vehicle depth: 1045.111288 # Seafloor depth: -1087.307403 # behavior reson { duration = 6; MB_Range = 169.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.511246 meters # Minimum depth: 1082.645855 meters looking forward 200.000000 meters along route # Maximum depth: 1087.276152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.645855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761109; longitude = -121.854512; duration = 402; initialDepth = 1040.545328; finalDepth = 1042.645855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.396405 # Actual altitude: 42.396405 # Commanded vehicle depth: 1042.645855 # Seafloor depth: -1085.042260 # behavior reson { duration = 6; MB_Range = 169.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.511701 meters # Minimum depth: 1080.545328 meters looking forward 200.000000 meters along route # Maximum depth: 1084.978948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.545328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760560; longitude = -121.853627; duration = 402; initialDepth = 1038.409077; finalDepth = 1040.545328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.396405 # Actual altitude: 42.396405 # Commanded vehicle depth: 1040.545328 # Seafloor depth: -1082.680159 # behavior reson { duration = 6; MB_Range = 169.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.512155 meters # Minimum depth: 1078.409077 meters looking forward 200.000000 meters along route # Maximum depth: 1082.656877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.409077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760011; longitude = -121.852742; duration = 402; initialDepth = 1036.225674; finalDepth = 1038.409077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1359729999999 # Actual altitude: 42.1359729999999 # Commanded vehicle depth: 1038.409077 # Seafloor depth: -1080.545050 # behavior reson { duration = 6; MB_Range = 168.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 168.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.512610 meters # Minimum depth: 1076.225674 meters looking forward 200.000000 meters along route # Maximum depth: 1080.516401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.225674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759463; longitude = -121.851858; duration = 402; initialDepth = 1035.477796; finalDepth = 1036.225674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1567689999999 # Actual altitude: 42.1567689999999 # Commanded vehicle depth: 1036.225674 # Seafloor depth: -1078.382443 # behavior reson { duration = 6; MB_Range = 168.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.995996 meters # Minimum depth: 1075.477796 meters looking forward 200.000000 meters along route # Maximum depth: 1078.352856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.477796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758914; longitude = -121.850973; duration = 403; initialDepth = 1035.477796; finalDepth = 1035.477796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1567689999999 # Actual altitude: 42.1567689999999 # Commanded vehicle depth: 1035.477796 # Seafloor depth: -1076.219572 # behavior reson { duration = 6; MB_Range = 168.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.030587 meters # Minimum depth: 1075.477796 meters looking forward 200.000000 meters along route # Maximum depth: 1079.313093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.477796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758362; longitude = -121.850084; duration = 400; initialDepth = 1032.570485; finalDepth = 1035.477796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2594720000002 # Actual altitude: 41.2594720000002 # Commanded vehicle depth: 1035.477796 # Seafloor depth: -1076.737268 # behavior reson { duration = 6; MB_Range = 165.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 165.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.513973 meters # Minimum depth: 1072.570485 meters looking forward 200.000000 meters along route # Maximum depth: 1079.313093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.570485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757816; longitude = -121.849204; duration = 402; initialDepth = 1029.910522; finalDepth = 1032.570485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0191300000001 # Actual altitude: 44.0191300000001 # Commanded vehicle depth: 1032.570485 # Seafloor depth: -1076.589615 # behavior reson { duration = 6; MB_Range = 176.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 176.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.514428 meters # Minimum depth: 1069.910522 meters looking forward 200.000000 meters along route # Maximum depth: 1076.470242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1029.910522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757267; longitude = -121.848319; duration = 402; initialDepth = 1027.899278; finalDepth = 1029.910522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0191300000001 # Actual altitude: 44.0191300000001 # Commanded vehicle depth: 1029.910522 # Seafloor depth: -1072.461181 # behavior reson { duration = 6; MB_Range = 176.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.41; MB_Bottom_Detect_Filter_Max_Range = 176.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.514882 meters # Minimum depth: 1067.899278 meters looking forward 200.000000 meters along route # Maximum depth: 1072.368594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.899278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756719; longitude = -121.847435; duration = 402; initialDepth = 1027.004539; finalDepth = 1027.899278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.550659 # Actual altitude: 42.550659 # Commanded vehicle depth: 1027.899278 # Seafloor depth: -1069.850227 # behavior reson { duration = 6; MB_Range = 170.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.682652 meters # Minimum depth: 1067.004539 meters looking forward 200.000000 meters along route # Maximum depth: 1069.798130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.004539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756170; longitude = -121.846550; duration = 402; initialDepth = 1026.165143; finalDepth = 1027.004539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9509489999998 # Actual altitude: 41.9509489999998 # Commanded vehicle depth: 1027.004539 # Seafloor depth: -1067.888305 # behavior reson { duration = 6; MB_Range = 167.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.348476 meters # Minimum depth: 1066.165143 meters looking forward 200.000000 meters along route # Maximum depth: 1067.852075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.165143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755620; longitude = -121.845664; duration = 401; initialDepth = 1024.969010; finalDepth = 1026.165143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.906258 # Actual altitude: 40.906258 # Commanded vehicle depth: 1026.165143 # Seafloor depth: -1067.071401 # behavior reson { duration = 6; MB_Range = 163.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 163.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.516245 meters # Minimum depth: 1064.969010 meters looking forward 200.000000 meters along route # Maximum depth: 1067.098338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.969010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755072; longitude = -121.844781; duration = 402; initialDepth = 1023.292484; finalDepth = 1024.969010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1520599999999 # Actual altitude: 41.1520599999999 # Commanded vehicle depth: 1024.96901 # Seafloor depth: -1066.121070 # behavior reson { duration = 6; MB_Range = 164.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 164.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.516701 meters # Minimum depth: 1063.292484 meters looking forward 200.000000 meters along route # Maximum depth: 1066.112524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.292484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754523; longitude = -121.843896; duration = 402; initialDepth = 1023.252643; finalDepth = 1023.292484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5652009999999 # Actual altitude: 41.5652009999999 # Commanded vehicle depth: 1023.292484 # Seafloor depth: -1064.857685 # behavior reson { duration = 6; MB_Range = 166.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 166.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.517154 meters # Minimum depth: 1063.252643 meters looking forward 200.000000 meters along route # Maximum depth: 1064.805570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.252643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753975; longitude = -121.843012; duration = 402; initialDepth = 1023.252643; finalDepth = 1023.252643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5652009999999 # Actual altitude: 41.5652009999999 # Commanded vehicle depth: 1023.252643 # Seafloor depth: -1063.699935 # behavior reson { duration = 6; MB_Range = 166.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 166.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.517610 meters # Minimum depth: 1063.252643 meters looking forward 200.000000 meters along route # Maximum depth: 1064.637346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.252643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753426; longitude = -121.842127; duration = 402; initialDepth = 1020.977426; finalDepth = 1023.252643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.678304 # Actual altitude: 40.678304 # Commanded vehicle depth: 1023.252643 # Seafloor depth: -1063.930947 # behavior reson { duration = 6; MB_Range = 162.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 162.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.518064 meters # Minimum depth: 1060.977426 meters looking forward 200.000000 meters along route # Maximum depth: 1064.637346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.977426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752877; longitude = -121.841242; duration = 402; initialDepth = 1020.716225; finalDepth = 1020.977426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6644670000001 # Actual altitude: 42.6644670000001 # Commanded vehicle depth: 1020.977426 # Seafloor depth: -1063.641893 # behavior reson { duration = 6; MB_Range = 170.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 170.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.518518 meters # Minimum depth: 1060.716225 meters looking forward 200.000000 meters along route # Maximum depth: 1063.525711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.716225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752328; longitude = -121.840358; duration = 402; initialDepth = 1019.266896; finalDepth = 1020.716225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6644670000001 # Actual altitude: 42.6644670000001 # Commanded vehicle depth: 1020.716225 # Seafloor depth: -1060.784545 # behavior reson { duration = 6; MB_Range = 170.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 170.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.518973 meters # Minimum depth: 1059.266896 meters looking forward 200.000000 meters along route # Maximum depth: 1062.755168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.266896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751779; longitude = -121.839473; duration = 402; initialDepth = 1015.156038; finalDepth = 1019.266896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.3943379999998 # Actual altitude: 43.3943379999998 # Commanded vehicle depth: 1019.266896 # Seafloor depth: -1062.661234 # behavior reson { duration = 6; MB_Range = 173.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 173.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.519428 meters # Minimum depth: 1055.156038 meters looking forward 200.000000 meters along route # Maximum depth: 1062.621773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.156038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751231; longitude = -121.838589; duration = 402; initialDepth = 1012.813319; finalDepth = 1015.156038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.129369 # Actual altitude: 44.129369 # Commanded vehicle depth: 1015.156038 # Seafloor depth: -1059.285407 # behavior reson { duration = 6; MB_Range = 176.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 176.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.519883 meters # Minimum depth: 1052.813319 meters looking forward 200.000000 meters along route # Maximum depth: 1059.295249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.813319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750682; longitude = -121.837704; duration = 402; initialDepth = 1011.500457; finalDepth = 1012.813319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.129369 # Actual altitude: 44.129369 # Commanded vehicle depth: 1012.813319 # Seafloor depth: -1055.120350 # behavior reson { duration = 6; MB_Range = 176.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 176.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.803388 meters # Minimum depth: 1051.500457 meters looking forward 200.000000 meters along route # Maximum depth: 1054.966436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.500457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750133; longitude = -121.836819; duration = 403; initialDepth = 1009.870941; finalDepth = 1011.500457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3070309999998 # Actual altitude: 42.3070309999998 # Commanded vehicle depth: 1011.500457 # Seafloor depth: -1052.799754 # behavior reson { duration = 6; MB_Range = 169.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.237740 meters # Minimum depth: 1049.870941 meters looking forward 200.000000 meters along route # Maximum depth: 1052.785839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1009.870941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749583; longitude = -121.835932; duration = 400; initialDepth = 1007.844812; finalDepth = 1009.870941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.659842 # Actual altitude: 41.659842 # Commanded vehicle depth: 1009.870941 # Seafloor depth: -1051.530783 # behavior reson { duration = 6; MB_Range = 166.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.521247 meters # Minimum depth: 1047.844812 meters looking forward 200.000000 meters along route # Maximum depth: 1051.479951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.844812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749035; longitude = -121.835050; duration = 402; initialDepth = 1007.448778; finalDepth = 1007.844812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.884497 # Actual altitude: 41.884497 # Commanded vehicle depth: 1007.844812 # Seafloor depth: -1049.729309 # behavior reson { duration = 6; MB_Range = 167.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 167.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.521701 meters # Minimum depth: 1047.448778 meters looking forward 200.000000 meters along route # Maximum depth: 1049.714694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.448778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748487; longitude = -121.834166; duration = 402; initialDepth = 1007.448778; finalDepth = 1007.448778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.884497 # Actual altitude: 41.884497 # Commanded vehicle depth: 1007.448778 # Seafloor depth: -1047.783350 # behavior reson { duration = 6; MB_Range = 167.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 167.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.522156 meters # Minimum depth: 1047.448778 meters looking forward 200.000000 meters along route # Maximum depth: 1047.919516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.448778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747938; longitude = -121.833281; duration = 402; initialDepth = 1006.921905; finalDepth = 1007.448778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.334572 # Actual altitude: 40.334572 # Commanded vehicle depth: 1007.448778 # Seafloor depth: -1047.542629 # behavior reson { duration = 6; MB_Range = 161.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 161.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.522610 meters # Minimum depth: 1046.921905 meters looking forward 200.000000 meters along route # Maximum depth: 1047.853643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.921905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747389; longitude = -121.832396; duration = 402; initialDepth = 1006.120010; finalDepth = 1006.921905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.781837 # Actual altitude: 40.781837 # Commanded vehicle depth: 1006.921905 # Seafloor depth: -1047.703742 # behavior reson { duration = 6; MB_Range = 163.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 163.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.523065 meters # Minimum depth: 1046.120010 meters looking forward 200.000000 meters along route # Maximum depth: 1047.732267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.120010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746840; longitude = -121.831512; duration = 402; initialDepth = 1003.447899; finalDepth = 1006.120010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.8000729999999 # Actual altitude: 40.8000729999999 # Commanded vehicle depth: 1006.12001 # Seafloor depth: -1046.920083 # behavior reson { duration = 6; MB_Range = 163.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 163.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.523520 meters # Minimum depth: 1043.447899 meters looking forward 200.000000 meters along route # Maximum depth: 1047.015493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.447899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746291; longitude = -121.830627; duration = 402; initialDepth = 1002.396007; finalDepth = 1003.447899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6079850000001 # Actual altitude: 42.6079850000001 # Commanded vehicle depth: 1003.447899 # Seafloor depth: -1046.055884 # behavior reson { duration = 6; MB_Range = 170.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 170.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.523975 meters # Minimum depth: 1042.396007 meters looking forward 200.000000 meters along route # Maximum depth: 1045.991701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.396007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745743; longitude = -121.829742; duration = 402; initialDepth = 1002.396007; finalDepth = 1002.396007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6079850000001 # Actual altitude: 42.6079850000001 # Commanded vehicle depth: 1002.396007 # Seafloor depth: -1043.363757 # behavior reson { duration = 6; MB_Range = 170.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 170.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.524429 meters # Minimum depth: 1042.396007 meters looking forward 200.000000 meters along route # Maximum depth: 1047.692697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.396007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745194; longitude = -121.828858; duration = 402; initialDepth = 1004.680113; finalDepth = 1002.396007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.083515 # Actual altitude: 42.083515 # Commanded vehicle depth: 1002.396007 # Seafloor depth: -1044.479522 # behavior reson { duration = 6; MB_Range = 168.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 100.524884 meters # Minimum depth: 1044.680113 meters looking forward 200.000000 meters along route # Maximum depth: 1047.692697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.680113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744645; longitude = -121.827973; duration = 402; initialDepth = 1002.798689; finalDepth = 1004.680113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.083515 # Actual altitude: 42.083515 # Commanded vehicle depth: 1004.680113 # Seafloor depth: -1046.682012 # behavior reson { duration = 6; MB_Range = 168.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 198 # Segment length 102.228465 meters # Minimum depth: 1042.798689 meters looking forward 200.000000 meters along route # Maximum depth: 1047.696329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.798689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744096; longitude = -121.827089; duration = 408; initialDepth = 997.854001; finalDepth = 1002.798689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.782095 # Actual altitude: 44.782095 # Commanded vehicle depth: 1002.798689 # Seafloor depth: -1047.580784 # behavior reson { duration = 6; MB_Range = 179.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 179.13; 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 197 # Segment length 136.333403 meters # Minimum depth: 1037.854001 meters looking forward 200.000000 meters along route # Maximum depth: 1047.225846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.854001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743538; longitude = -121.826189; duration = 545; # abortOnTimeout = True; initialDepth = 997.854001; finalDepth = 997.854001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.782095 # Actual altitude: 44.782095 # Commanded vehicle depth: 997.854001 # Seafloor depth: -1042.605499 # behavior reson { duration = 6; MB_Range = 179.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 179.13; 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 196 # Segment length 97.169232 meters # Minimum depth: 1037.854001 meters looking forward 200.000000 meters along route # Maximum depth: 1043.604675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.854001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742543; longitude = -121.827074; duration = 388; # abortOnTimeout = True; initialDepth = 1000.572998; finalDepth = 997.854001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.7514980000001 # Actual altitude: 44.7514980000001 # Commanded vehicle depth: 997.854001 # Seafloor depth: -1040.572998 # behavior reson { duration = 6; MB_Range = 179.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 179.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 196 # Segment length 100.536171 meters # Minimum depth: 1040.572998 meters looking forward 200.000000 meters along route # Maximum depth: 1043.604675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.572998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743074; longitude = -121.827929; duration = 402; initialDepth = 1002.763773; finalDepth = 1000.572998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.751346 # Actual altitude: 42.751346 # Commanded vehicle depth: 1000.572998 # Seafloor depth: -1043.324344 # behavior reson { duration = 6; MB_Range = 171.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 171.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.535716 meters # Minimum depth: 1042.763773 meters looking forward 200.000000 meters along route # Maximum depth: 1045.117868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.763773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743623; longitude = -121.828814; duration = 402; initialDepth = 1002.763773; finalDepth = 1002.763773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.751346 # Actual altitude: 42.751346 # Commanded vehicle depth: 1002.763773 # Seafloor depth: -1042.853723 # behavior reson { duration = 6; MB_Range = 171.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 171.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.535261 meters # Minimum depth: 1042.763773 meters looking forward 200.000000 meters along route # Maximum depth: 1046.958713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.763773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744171; longitude = -121.829698; duration = 402; initialDepth = 1005.121092; finalDepth = 1002.763773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3647290000001 # Actual altitude: 42.3647290000001 # Commanded vehicle depth: 1002.763773 # Seafloor depth: -1045.128502 # behavior reson { duration = 6; MB_Range = 169.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.662452 meters # Minimum depth: 1045.121092 meters looking forward 200.000000 meters along route # Maximum depth: 1049.933269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.121092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744720; longitude = -121.830583; duration = 402; initialDepth = 1006.805681; finalDepth = 1005.121092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3647290000001 # Actual altitude: 42.3647290000001 # Commanded vehicle depth: 1005.121092 # Seafloor depth: -1046.822932 # behavior reson { duration = 6; MB_Range = 169.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.406707 meters # Minimum depth: 1046.805681 meters looking forward 200.000000 meters along route # Maximum depth: 1049.933269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.805681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745270; longitude = -121.831469; duration = 401; initialDepth = 1007.732223; finalDepth = 1006.805681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.067605 # Actual altitude: 43.067605 # Commanded vehicle depth: 1006.805681 # Seafloor depth: -1049.873286 # behavior reson { duration = 6; MB_Range = 172.27; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 172.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.533897 meters # Minimum depth: 1047.732223 meters looking forward 200.000000 meters along route # Maximum depth: 1049.958546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.732223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745818; longitude = -121.832352; duration = 402; initialDepth = 1008.414730; finalDepth = 1007.732223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.067605 # Actual altitude: 43.067605 # Commanded vehicle depth: 1007.732223 # Seafloor depth: -1048.380354 # behavior reson { duration = 6; MB_Range = 172.27; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 172.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.533443 meters # Minimum depth: 1048.414730 meters looking forward 200.000000 meters along route # Maximum depth: 1051.738070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.414730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746367; longitude = -121.833237; duration = 402; initialDepth = 1010.091583; finalDepth = 1008.414730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6191309999999 # Actual altitude: 41.6191309999999 # Commanded vehicle depth: 1008.41473 # Seafloor depth: -1050.033861 # behavior reson { duration = 6; MB_Range = 166.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.532987 meters # Minimum depth: 1050.091583 meters looking forward 200.000000 meters along route # Maximum depth: 1054.915342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1010.091583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746916; longitude = -121.834121; duration = 402; initialDepth = 1011.428305; finalDepth = 1010.091583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6191309999999 # Actual altitude: 41.6191309999999 # Commanded vehicle depth: 1010.091583 # Seafloor depth: -1051.497540 # behavior reson { duration = 6; MB_Range = 166.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.532533 meters # Minimum depth: 1051.428305 meters looking forward 200.000000 meters along route # Maximum depth: 1058.027332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.428305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747465; longitude = -121.835006; duration = 402; initialDepth = 1015.080987; finalDepth = 1011.428305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.538816 # Actual altitude: 43.538816 # Commanded vehicle depth: 1011.428305 # Seafloor depth: -1054.967121 # behavior reson { duration = 6; MB_Range = 174.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.919298 meters # Minimum depth: 1055.080987 meters looking forward 200.000000 meters along route # Maximum depth: 1058.027332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.080987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748014; longitude = -121.835891; duration = 403; initialDepth = 1015.538969; finalDepth = 1015.080987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.538816 # Actual altitude: 43.538816 # Commanded vehicle depth: 1015.080987 # Seafloor depth: -1057.245431 # behavior reson { duration = 6; MB_Range = 174.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.144404 meters # Minimum depth: 1055.538969 meters looking forward 200.000000 meters along route # Maximum depth: 1057.755883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.538969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748565; longitude = -121.836779; duration = 400; initialDepth = 1016.710116; finalDepth = 1015.538969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.164444 # Actual altitude: 42.164444 # Commanded vehicle depth: 1015.538969 # Seafloor depth: -1056.613371 # behavior reson { duration = 6; MB_Range = 168.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.531169 meters # Minimum depth: 1056.710116 meters looking forward 200.000000 meters along route # Maximum depth: 1060.959667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.710116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749112; longitude = -121.837660; duration = 402; initialDepth = 1016.271345; finalDepth = 1016.710116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.074402 # Actual altitude: 41.074402 # Commanded vehicle depth: 1016.710116 # Seafloor depth: -1057.773876 # behavior reson { duration = 6; MB_Range = 164.30; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 164.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.530714 meters # Minimum depth: 1056.271345 meters looking forward 200.000000 meters along route # Maximum depth: 1060.959667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.271345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749661; longitude = -121.838544; duration = 402; initialDepth = 1015.814878; finalDepth = 1016.271345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9179839999999 # Actual altitude: 43.9179839999999 # Commanded vehicle depth: 1016.271345 # Seafloor depth: -1060.189329 # behavior reson { duration = 6; MB_Range = 175.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.35; MB_Bottom_Detect_Filter_Max_Range = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.530259 meters # Minimum depth: 1055.814878 meters looking forward 200.000000 meters along route # Maximum depth: 1060.134336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.814878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750210; longitude = -121.839429; duration = 402; initialDepth = 1015.814878; finalDepth = 1015.814878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9179839999999 # Actual altitude: 43.9179839999999 # Commanded vehicle depth: 1015.814878 # Seafloor depth: -1056.287574 # behavior reson { duration = 6; MB_Range = 175.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.35; MB_Bottom_Detect_Filter_Max_Range = 175.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.529805 meters # Minimum depth: 1055.814878 meters looking forward 200.000000 meters along route # Maximum depth: 1057.839292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.814878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750759; longitude = -121.840314; duration = 402; initialDepth = 1016.226916; finalDepth = 1015.814878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.472696 # Actual altitude: 40.472696 # Commanded vehicle depth: 1015.814878 # Seafloor depth: -1056.193293 # behavior reson { duration = 6; MB_Range = 161.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.28; MB_Bottom_Detect_Filter_Max_Range = 161.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.529350 meters # Minimum depth: 1056.226916 meters looking forward 200.000000 meters along route # Maximum depth: 1059.604090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.226916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751308; longitude = -121.841198; duration = 402; initialDepth = 1017.883598; finalDepth = 1016.226916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6130959999998 # Actual altitude: 41.6130959999998 # Commanded vehicle depth: 1016.226916 # Seafloor depth: -1057.840012 # behavior reson { duration = 6; MB_Range = 166.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.528895 meters # Minimum depth: 1057.883598 meters looking forward 200.000000 meters along route # Maximum depth: 1062.207266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.883598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751857; longitude = -121.842083; duration = 402; initialDepth = 1019.741934; finalDepth = 1017.883598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7744610000002 # Actual altitude: 41.7744610000002 # Commanded vehicle depth: 1017.883598 # Seafloor depth: -1059.658059 # behavior reson { duration = 6; MB_Range = 167.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 167.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.528441 meters # Minimum depth: 1059.741934 meters looking forward 200.000000 meters along route # Maximum depth: 1066.019593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.741934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752406; longitude = -121.842967; duration = 402; initialDepth = 1022.291087; finalDepth = 1019.741934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.50883 # Actual altitude: 42.50883 # Commanded vehicle depth: 1019.741934 # Seafloor depth: -1062.250764 # behavior reson { duration = 6; MB_Range = 170.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.527986 meters # Minimum depth: 1062.291087 meters looking forward 200.000000 meters along route # Maximum depth: 1066.245117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1022.291087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752955; longitude = -121.843852; duration = 402; initialDepth = 1024.787666; finalDepth = 1022.291087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5935299999999 # Actual altitude: 43.5935299999999 # Commanded vehicle depth: 1022.291087 # Seafloor depth: -1065.884617 # behavior reson { duration = 6; MB_Range = 174.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 174.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.527532 meters # Minimum depth: 1064.787666 meters looking forward 200.000000 meters along route # Maximum depth: 1067.546536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.787666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753504; longitude = -121.844737; duration = 402; initialDepth = 1025.096351; finalDepth = 1024.787666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5935299999999 # Actual altitude: 43.5935299999999 # Commanded vehicle depth: 1024.787666 # Seafloor depth: -1065.083989 # behavior reson { duration = 6; MB_Range = 174.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 174.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.715181 meters # Minimum depth: 1065.096351 meters looking forward 200.000000 meters along route # Maximum depth: 1070.269351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.096351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754053; longitude = -121.845621; duration = 402; initialDepth = 1027.666522; finalDepth = 1025.096351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4780930000002 # Actual altitude: 42.4780930000002 # Commanded vehicle depth: 1025.096351 # Seafloor depth: -1067.574444 # behavior reson { duration = 6; MB_Range = 169.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 169.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.338518 meters # Minimum depth: 1067.666522 meters looking forward 200.000000 meters along route # Maximum depth: 1070.782916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.666522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754603; longitude = -121.846508; duration = 401; initialDepth = 1030.213347; finalDepth = 1027.666522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5880730000001 # Actual altitude: 42.5880730000001 # Commanded vehicle depth: 1027.666522 # Seafloor depth: -1070.254595 # behavior reson { duration = 6; MB_Range = 170.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.526168 meters # Minimum depth: 1070.213347 meters looking forward 200.000000 meters along route # Maximum depth: 1070.782916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.213347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755151; longitude = -121.847390; duration = 402; initialDepth = 1030.213347; finalDepth = 1030.213347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5880730000001 # Actual altitude: 42.5880730000001 # Commanded vehicle depth: 1030.213347 # Seafloor depth: -1070.479679 # behavior reson { duration = 6; MB_Range = 170.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.525714 meters # Minimum depth: 1070.213347 meters looking forward 200.000000 meters along route # Maximum depth: 1071.057721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.213347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755700; longitude = -121.848275; duration = 402; initialDepth = 1030.339696; finalDepth = 1030.213347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.2663319999999 # Actual altitude: 40.2663319999999 # Commanded vehicle depth: 1030.213347 # Seafloor depth: -1070.353644 # behavior reson { duration = 6; MB_Range = 161.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.16; MB_Bottom_Detect_Filter_Max_Range = 161.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.525258 meters # Minimum depth: 1070.339696 meters looking forward 200.000000 meters along route # Maximum depth: 1074.763322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.339696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756249; longitude = -121.849160; duration = 402; initialDepth = 1031.128933; finalDepth = 1030.339696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.768108 # Actual altitude: 40.768108 # Commanded vehicle depth: 1030.339696 # Seafloor depth: -1071.107804 # behavior reson { duration = 6; MB_Range = 163.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.46; MB_Bottom_Detect_Filter_Max_Range = 163.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.524805 meters # Minimum depth: 1071.128933 meters looking forward 200.000000 meters along route # Maximum depth: 1078.568063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.128933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756798; longitude = -121.850044; duration = 402; initialDepth = 1035.002731; finalDepth = 1031.128933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.734692 # Actual altitude: 43.734692 # Commanded vehicle depth: 1031.128933 # Seafloor depth: -1074.863625 # behavior reson { duration = 6; MB_Range = 174.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 174.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.972007 meters # Minimum depth: 1075.002731 meters looking forward 200.000000 meters along route # Maximum depth: 1080.330791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.002731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757347; longitude = -121.850929; duration = 403; initialDepth = 1038.519765; finalDepth = 1035.002731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.734692 # Actual altitude: 43.734692 # Commanded vehicle depth: 1035.002731 # Seafloor depth: -1078.573608 # behavior reson { duration = 6; MB_Range = 174.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 174.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.076238 meters # Minimum depth: 1078.519765 meters looking forward 200.000000 meters along route # Maximum depth: 1081.852718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.519765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757898; longitude = -121.851818; duration = 400; initialDepth = 1040.345085; finalDepth = 1038.519765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5708769999999 # Actual altitude: 43.5708769999999 # Commanded vehicle depth: 1038.519765 # Seafloor depth: -1080.317711 # behavior reson { duration = 6; MB_Range = 174.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 174.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.523440 meters # Minimum depth: 1080.345085 meters looking forward 200.000000 meters along route # Maximum depth: 1083.513921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.345085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758444; longitude = -121.852698; duration = 402; initialDepth = 1041.877298; finalDepth = 1040.345085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7979459999999 # Actual altitude: 41.7979459999999 # Commanded vehicle depth: 1040.345085 # Seafloor depth: -1081.887180 # behavior reson { duration = 6; MB_Range = 167.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.522987 meters # Minimum depth: 1081.877298 meters looking forward 200.000000 meters along route # Maximum depth: 1087.633786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.877298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758993; longitude = -121.853583; duration = 402; initialDepth = 1043.615524; finalDepth = 1041.877298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6910049999999 # Actual altitude: 41.6910049999999 # Commanded vehicle depth: 1041.877298 # Seafloor depth: -1083.568303 # behavior reson { duration = 6; MB_Range = 166.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 166.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.522531 meters # Minimum depth: 1083.615524 meters looking forward 200.000000 meters along route # Maximum depth: 1090.320295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.615524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759542; longitude = -121.854467; duration = 402; initialDepth = 1047.805907; finalDepth = 1043.615524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.064445 # Actual altitude: 44.064445 # Commanded vehicle depth: 1043.615524 # Seafloor depth: -1087.679969 # behavior reson { duration = 6; MB_Range = 176.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 176.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.522078 meters # Minimum depth: 1087.805907 meters looking forward 200.000000 meters along route # Maximum depth: 1091.945496 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.805907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760091; longitude = -121.855352; duration = 402; initialDepth = 1049.286769; finalDepth = 1047.805907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.064445 # Actual altitude: 44.064445 # Commanded vehicle depth: 1047.805907 # Seafloor depth: -1089.322642 # behavior reson { duration = 6; MB_Range = 176.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 176.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.521622 meters # Minimum depth: 1089.286769 meters looking forward 200.000000 meters along route # Maximum depth: 1095.409025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.286769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760640; longitude = -121.856237; duration = 402; initialDepth = 1052.040248; finalDepth = 1049.286769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6586889999999 # Actual altitude: 42.6586889999999 # Commanded vehicle depth: 1049.286769 # Seafloor depth: -1091.945458 # behavior reson { duration = 6; MB_Range = 170.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 170.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.521169 meters # Minimum depth: 1092.040248 meters looking forward 200.000000 meters along route # Maximum depth: 1098.021798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.040248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761189; longitude = -121.857121; duration = 402; initialDepth = 1055.396923; finalDepth = 1052.040248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2968960000001 # Actual altitude: 43.2968960000001 # Commanded vehicle depth: 1052.040248 # Seafloor depth: -1095.337144 # behavior reson { duration = 6; MB_Range = 173.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 173.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.520714 meters # Minimum depth: 1095.396923 meters looking forward 200.000000 meters along route # Maximum depth: 1098.120997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.396923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761738; longitude = -121.858006; duration = 402; initialDepth = 1056.187619; finalDepth = 1055.396923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2968960000001 # Actual altitude: 43.2968960000001 # Commanded vehicle depth: 1055.396923 # Seafloor depth: -1098.092067 # behavior reson { duration = 6; MB_Range = 173.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 173.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.520259 meters # Minimum depth: 1096.187619 meters looking forward 200.000000 meters along route # Maximum depth: 1098.343251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.187619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762287; longitude = -121.858890; duration = 402; initialDepth = 1056.557506; finalDepth = 1056.187619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.695144 # Actual altitude: 42.695144 # Commanded vehicle depth: 1056.187619 # Seafloor depth: -1096.510572 # behavior reson { duration = 6; MB_Range = 170.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 170.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.519806 meters # Minimum depth: 1096.557506 meters looking forward 200.000000 meters along route # Maximum depth: 1100.371000 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.557506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762836; longitude = -121.859775; duration = 402; initialDepth = 1058.418876; finalDepth = 1056.557506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8399419999998 # Actual altitude: 41.8399419999998 # Commanded vehicle depth: 1056.557506 # Seafloor depth: -1098.397448 # behavior reson { duration = 6; MB_Range = 167.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 167.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.767904 meters # Minimum depth: 1098.418876 meters looking forward 200.000000 meters along route # Maximum depth: 1101.896927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.418876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763385; longitude = -121.860660; duration = 403; initialDepth = 1060.445786; finalDepth = 1058.418876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.957758 # Actual altitude: 41.957758 # Commanded vehicle depth: 1058.418876 # Seafloor depth: -1100.376634 # behavior reson { duration = 6; MB_Range = 167.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.270343 meters # Minimum depth: 1100.445786 meters looking forward 200.000000 meters along route # Maximum depth: 1101.896927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.445786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763935; longitude = -121.861547; duration = 401; initialDepth = 1060.445786; finalDepth = 1060.445786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.957758 # Actual altitude: 41.957758 # Commanded vehicle depth: 1060.445786 # Seafloor depth: -1101.613504 # behavior reson { duration = 6; MB_Range = 167.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.518442 meters # Minimum depth: 1100.445786 meters looking forward 200.000000 meters along route # Maximum depth: 1104.113231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.445786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764483; longitude = -121.862429; duration = 402; initialDepth = 1061.116584; finalDepth = 1060.445786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1677179999999 # Actual altitude: 41.1677179999999 # Commanded vehicle depth: 1060.445786 # Seafloor depth: -1101.027808 # behavior reson { duration = 6; MB_Range = 164.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.517988 meters # Minimum depth: 1101.116584 meters looking forward 200.000000 meters along route # Maximum depth: 1106.584095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.116584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765032; longitude = -121.863314; duration = 402; initialDepth = 1064.260406; finalDepth = 1061.116584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0800529999999 # Actual altitude: 43.0800529999999 # Commanded vehicle depth: 1061.116584 # Seafloor depth: -1104.196637 # behavior reson { duration = 6; MB_Range = 172.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 172.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.517533 meters # Minimum depth: 1104.260406 meters looking forward 200.000000 meters along route # Maximum depth: 1109.378714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.260406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765581; longitude = -121.864198; duration = 402; initialDepth = 1066.664492; finalDepth = 1064.260406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0800529999999 # Actual altitude: 43.0800529999999 # Commanded vehicle depth: 1064.260406 # Seafloor depth: -1106.614029 # behavior reson { duration = 6; MB_Range = 172.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 172.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.517079 meters # Minimum depth: 1106.664492 meters looking forward 200.000000 meters along route # Maximum depth: 1112.877417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.664492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766130; longitude = -121.865083; duration = 402; initialDepth = 1069.460426; finalDepth = 1066.664492; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7331019999999 # Actual altitude: 42.7331019999999 # Commanded vehicle depth: 1066.664492 # Seafloor depth: -1109.397594 # behavior reson { duration = 6; MB_Range = 170.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 170.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 101.024711 meters # Minimum depth: 1109.460426 meters looking forward 200.000000 meters along route # Maximum depth: 1116.921005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.460426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766679; longitude = -121.865967; duration = 404; initialDepth = 1072.968712; finalDepth = 1069.460426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.4225669999998 # Actual altitude: 43.4225669999998 # Commanded vehicle depth: 1069.460426 # Seafloor depth: -1112.882993 # behavior reson { duration = 6; MB_Range = 173.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 173.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.008084 meters # Minimum depth: 1112.968712 meters looking forward 200.000000 meters along route # Maximum depth: 1116.921005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.968712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767231; longitude = -121.866856; duration = 400; initialDepth = 1076.175860; finalDepth = 1072.968712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.945283 # Actual altitude: 43.945283 # Commanded vehicle depth: 1072.968712 # Seafloor depth: -1116.913995 # behavior reson { duration = 6; MB_Range = 175.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 175.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.515716 meters # Minimum depth: 1116.175860 meters looking forward 200.000000 meters along route # Maximum depth: 1117.260168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.175860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767777; longitude = -121.867737; duration = 402; initialDepth = 1076.861370; finalDepth = 1076.175860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.945283 # Actual altitude: 43.945283 # Commanded vehicle depth: 1076.17586 # Seafloor depth: -1116.861601 # behavior reson { duration = 6; MB_Range = 175.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 175.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.515262 meters # Minimum depth: 1116.861370 meters looking forward 200.000000 meters along route # Maximum depth: 1118.527637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.861370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768326; longitude = -121.868621; duration = 402; initialDepth = 1077.259080; finalDepth = 1076.861370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.685741 # Actual altitude: 40.685741 # Commanded vehicle depth: 1076.86137 # Seafloor depth: -1117.244240 # behavior reson { duration = 6; MB_Range = 162.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.41; MB_Bottom_Detect_Filter_Max_Range = 162.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.514808 meters # Minimum depth: 1117.259080 meters looking forward 200.000000 meters along route # Maximum depth: 1119.566267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1077.259080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768875; longitude = -121.869506; duration = 402; initialDepth = 1078.452841; finalDepth = 1077.259080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2357099999999 # Actual altitude: 41.2357099999999 # Commanded vehicle depth: 1077.25908 # Seafloor depth: -1118.494790 # behavior reson { duration = 6; MB_Range = 164.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 164.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.563823 meters # Minimum depth: 1118.452841 meters looking forward 200.000000 meters along route # Maximum depth: 1121.813195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.452841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769424; longitude = -121.870390; duration = 402; initialDepth = 1079.621093; finalDepth = 1078.452841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2357099999999 # Actual altitude: 41.2357099999999 # Commanded vehicle depth: 1078.452841 # Seafloor depth: -1119.583244 # behavior reson { duration = 6; MB_Range = 164.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.74; MB_Bottom_Detect_Filter_Max_Range = 164.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.464429 meters # Minimum depth: 1119.621093 meters looking forward 200.000000 meters along route # Maximum depth: 1123.936101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.621093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769973; longitude = -121.871276; duration = 401; initialDepth = 1081.950334; finalDepth = 1079.621093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1938279999999 # Actual altitude: 42.1938279999999 # Commanded vehicle depth: 1079.621093 # Seafloor depth: -1121.814921 # behavior reson { duration = 6; MB_Range = 168.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.513445 meters # Minimum depth: 1121.950334 meters looking forward 200.000000 meters along route # Maximum depth: 1125.349229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.950334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770522; longitude = -121.872160; duration = 402; initialDepth = 1084.054579; finalDepth = 1081.950334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1938279999999 # Actual altitude: 42.1938279999999 # Commanded vehicle depth: 1081.950334 # Seafloor depth: -1124.000341 # behavior reson { duration = 6; MB_Range = 168.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.512991 meters # Minimum depth: 1124.054579 meters looking forward 200.000000 meters along route # Maximum depth: 1128.380176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.054579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771071; longitude = -121.873044; duration = 402; initialDepth = 1085.481023; finalDepth = 1084.054579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0500069999998 # Actual altitude: 42.0500069999998 # Commanded vehicle depth: 1084.054579 # Seafloor depth: -1125.435608 # behavior reson { duration = 6; MB_Range = 168.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.512536 meters # Minimum depth: 1125.481023 meters looking forward 200.000000 meters along route # Maximum depth: 1132.810767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1085.481023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771620; longitude = -121.873929; duration = 402; initialDepth = 1088.505031; finalDepth = 1085.481023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9541019999999 # Actual altitude: 42.9541019999999 # Commanded vehicle depth: 1085.481023 # Seafloor depth: -1128.435125 # behavior reson { duration = 6; MB_Range = 171.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 171.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.512082 meters # Minimum depth: 1128.505031 meters looking forward 200.000000 meters along route # Maximum depth: 1134.643470 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.505031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772169; longitude = -121.874814; duration = 402; initialDepth = 1091.867603; finalDepth = 1088.505031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9322710000001 # Actual altitude: 43.9322710000001 # Commanded vehicle depth: 1088.505031 # Seafloor depth: -1132.437302 # behavior reson { duration = 6; MB_Range = 175.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 175.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.820623 meters # Minimum depth: 1131.867603 meters looking forward 200.000000 meters along route # Maximum depth: 1136.013637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1091.867603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772718; longitude = -121.875698; duration = 403; initialDepth = 1093.299940; finalDepth = 1091.867603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9322710000001 # Actual altitude: 43.9322710000001 # Commanded vehicle depth: 1091.867603 # Seafloor depth: -1134.655975 # behavior reson { duration = 6; MB_Range = 175.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 175.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.202179 meters # Minimum depth: 1133.299940 meters looking forward 200.000000 meters along route # Maximum depth: 1136.013637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.299940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773268; longitude = -121.876585; duration = 400; initialDepth = 1093.172598; finalDepth = 1093.299940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.788372 # Actual altitude: 42.788372 # Commanded vehicle depth: 1093.29994 # Seafloor depth: -1135.505891 # behavior reson { duration = 6; MB_Range = 171.15; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 171.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.510720 meters # Minimum depth: 1133.172598 meters looking forward 200.000000 meters along route # Maximum depth: 1135.396146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.172598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773815; longitude = -121.877467; duration = 402; initialDepth = 1093.172598; finalDepth = 1093.172598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.2059509999999 # Actual altitude: 42.2059509999999 # Commanded vehicle depth: 1093.172598 # Seafloor depth: -1133.319188 # behavior reson { duration = 6; MB_Range = 168.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.510265 meters # Minimum depth: 1133.172598 meters looking forward 200.000000 meters along route # Maximum depth: 1136.712755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.172598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774364; longitude = -121.878352; duration = 402; initialDepth = 1094.182378; finalDepth = 1093.172598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9663059999998 # Actual altitude: 40.9663059999998 # Commanded vehicle depth: 1093.172598 # Seafloor depth: -1134.138904 # behavior reson { duration = 6; MB_Range = 163.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 163.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.509812 meters # Minimum depth: 1134.182378 meters looking forward 200.000000 meters along route # Maximum depth: 1136.723422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.182378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774913; longitude = -121.879237; duration = 402; initialDepth = 1096.131753; finalDepth = 1094.182378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5410440000001 # Actual altitude: 42.5410440000001 # Commanded vehicle depth: 1094.182378 # Seafloor depth: -1136.723422 # behavior reson { duration = 6; MB_Range = 170.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 170.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.509357 meters # Minimum depth: 1136.131753 meters looking forward 200.000000 meters along route # Maximum depth: 1137.443659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1096.131753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775462; longitude = -121.880121; duration = 402; initialDepth = 1096.251141; finalDepth = 1096.131753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5410440000001 # Actual altitude: 42.5410440000001 # Commanded vehicle depth: 1096.131753 # Seafloor depth: -1136.285104 # behavior reson { duration = 6; MB_Range = 170.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 170.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.508903 meters # Minimum depth: 1136.251141 meters looking forward 200.000000 meters along route # Maximum depth: 1138.724351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1096.251141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776011; longitude = -121.881006; duration = 402; initialDepth = 1097.438999; finalDepth = 1096.251141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.193792 # Actual altitude: 41.193792 # Commanded vehicle depth: 1096.251141 # Seafloor depth: -1137.444933 # behavior reson { duration = 6; MB_Range = 164.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 164.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.508449 meters # Minimum depth: 1137.438999 meters looking forward 200.000000 meters along route # Maximum depth: 1142.272066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.438999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776560; longitude = -121.881890; duration = 402; initialDepth = 1098.815991; finalDepth = 1097.438999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.326417 # Actual altitude: 41.326417 # Commanded vehicle depth: 1097.438999 # Seafloor depth: -1138.765416 # behavior reson { duration = 6; MB_Range = 165.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 165.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.507995 meters # Minimum depth: 1138.815991 meters looking forward 200.000000 meters along route # Maximum depth: 1146.389099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.815991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777109; longitude = -121.882775; duration = 402; initialDepth = 1102.406355; finalDepth = 1098.815991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.514784 # Actual altitude: 43.514784 # Commanded vehicle depth: 1098.815991 # Seafloor depth: -1142.330775 # behavior reson { duration = 6; MB_Range = 174.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 174.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.507541 meters # Minimum depth: 1142.406355 meters looking forward 200.000000 meters along route # Maximum depth: 1148.593009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.406355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777658; longitude = -121.883660; duration = 402; initialDepth = 1106.316208; finalDepth = 1102.406355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9710299999999 # Actual altitude: 43.9710299999999 # Commanded vehicle depth: 1102.406355 # Seafloor depth: -1146.377385 # behavior reson { duration = 6; MB_Range = 175.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 175.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.507087 meters # Minimum depth: 1146.316208 meters looking forward 200.000000 meters along route # Maximum depth: 1155.850486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1106.316208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778207; longitude = -121.884544; duration = 402; initialDepth = 1108.771054; finalDepth = 1106.316208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9710299999999 # Actual altitude: 43.9710299999999 # Commanded vehicle depth: 1106.316208 # Seafloor depth: -1148.655437 # behavior reson { duration = 6; MB_Range = 175.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 175.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.616556 meters # Minimum depth: 1148.771054 meters looking forward 200.000000 meters along route # Maximum depth: 1157.184700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1108.771054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778756; longitude = -121.885429; duration = 402; initialDepth = 1115.735004; finalDepth = 1108.771054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.1083389999999 # Actual altitude: 47.1083389999999 # Commanded vehicle depth: 1108.771054 # Seafloor depth: -1155.879393 # behavior reson { duration = 6; MB_Range = 188.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 188.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.396255 meters # Minimum depth: 1155.735004 meters looking forward 200.000000 meters along route # Maximum depth: 1160.551429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.735004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779306; longitude = -121.886314; duration = 401; initialDepth = 1115.962922; finalDepth = 1115.735004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.1083389999999 # Actual altitude: 47.1083389999999 # Commanded vehicle depth: 1115.735004 # Seafloor depth: -1155.950729 # behavior reson { duration = 6; MB_Range = 188.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.27; MB_Bottom_Detect_Filter_Max_Range = 188.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.505725 meters # Minimum depth: 1155.962922 meters looking forward 200.000000 meters along route # Maximum depth: 1165.123852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.962922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779854; longitude = -121.887198; duration = 402; initialDepth = 1120.916771; finalDepth = 1115.962922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.7589850000002 # Actual altitude: 44.7589850000002 # Commanded vehicle depth: 1115.962922 # Seafloor depth: -1160.721907 # behavior reson { duration = 6; MB_Range = 179.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 179.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.505270 meters # Minimum depth: 1160.916771 meters looking forward 200.000000 meters along route # Maximum depth: 1165.123852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.916771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780403; longitude = -121.888083; duration = 402; initialDepth = 1123.221404; finalDepth = 1120.916771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.7589850000002 # Actual altitude: 44.7589850000002 # Commanded vehicle depth: 1120.916771 # Seafloor depth: -1163.888737 # behavior reson { duration = 6; MB_Range = 179.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 179.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.504817 meters # Minimum depth: 1163.221404 meters looking forward 200.000000 meters along route # Maximum depth: 1170.096737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1123.221404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780952; longitude = -121.888967; duration = 402; initialDepth = 1124.455923; finalDepth = 1123.221404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9719660000001 # Actual altitude: 42.9719660000001 # Commanded vehicle depth: 1123.221404 # Seafloor depth: -1164.406543 # behavior reson { duration = 6; MB_Range = 171.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 171.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 100.504363 meters # Minimum depth: 1164.455923 meters looking forward 200.000000 meters along route # Maximum depth: 1172.303819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1124.455923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781501; longitude = -121.889852; duration = 402; initialDepth = 1130.355231; finalDepth = 1124.455923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.7067830000001 # Actual altitude: 45.7067830000001 # Commanded vehicle depth: 1124.455923 # Seafloor depth: -1170.162706 # behavior reson { duration = 6; MB_Range = 182.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 182.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 196 # Segment length 102.186180 meters # Minimum depth: 1170.355231 meters looking forward 200.000000 meters along route # Maximum depth: 1172.370040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1130.355231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782050; longitude = -121.890737; duration = 408; initialDepth = 1126.527255; finalDepth = 1130.355231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.7067830000001 # Actual altitude: 45.7067830000001 # Commanded vehicle depth: 1130.355231 # Seafloor depth: -1172.154449 # behavior reson { duration = 6; MB_Range = 182.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 182.83; 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 195 # Segment length 146.187527 meters # Minimum depth: 1166.527255 meters looking forward 200.000000 meters along route # Maximum depth: 1172.243929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1126.527255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782608; longitude = -121.891636; duration = 584; # abortOnTimeout = True; initialDepth = 1126.280121; finalDepth = 1126.527255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.3224460000001 # Actual altitude: 45.3224460000001 # Commanded vehicle depth: 1126.527255 # Seafloor depth: -1171.849701 # behavior reson { duration = 6; MB_Range = 181.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 181.29; 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 194 # Segment length 114.830587 meters # Minimum depth: 1166.280121 meters looking forward 200.000000 meters along route # Maximum depth: 1173.549887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1126.280121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781569; longitude = -121.892631; duration = 459; # abortOnTimeout = True; initialDepth = 1128.002629; finalDepth = 1126.280121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.3224460000001 # Actual altitude: 45.3224460000001 # Commanded vehicle depth: 1126.280121 # Seafloor depth: -1166.280121 # behavior reson { duration = 6; MB_Range = 181.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 181.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 194 # Segment length 100.325923 meters # Minimum depth: 1168.002629 meters looking forward 200.000000 meters along route # Maximum depth: 1173.549887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1128.002629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780942; longitude = -121.891620; duration = 401; initialDepth = 1123.941356; finalDepth = 1128.002629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.208607 # Actual altitude: 45.208607 # Commanded vehicle depth: 1128.002629 # Seafloor depth: -1173.211236 # behavior reson { duration = 6; MB_Range = 180.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.469647 meters # Minimum depth: 1163.941356 meters looking forward 200.000000 meters along route # Maximum depth: 1173.479580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1123.941356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780395; longitude = -121.890737; duration = 401; initialDepth = 1121.839372; finalDepth = 1123.941356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.208607 # Actual altitude: 45.208607 # Commanded vehicle depth: 1123.941356 # Seafloor depth: -1167.821038 # behavior reson { duration = 6; MB_Range = 180.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.470100 meters # Minimum depth: 1161.839372 meters looking forward 200.000000 meters along route # Maximum depth: 1167.752066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1121.839372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779846; longitude = -121.889852; duration = 401; initialDepth = 1121.164101; finalDepth = 1121.839372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.879682 # Actual altitude: 43.879682 # Commanded vehicle depth: 1121.839372 # Seafloor depth: -1163.865021 # behavior reson { duration = 6; MB_Range = 175.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 175.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.470554 meters # Minimum depth: 1161.164101 meters looking forward 200.000000 meters along route # Maximum depth: 1163.821456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1121.164101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779298; longitude = -121.888967; duration = 401; initialDepth = 1115.607181; finalDepth = 1121.164101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0256490000002 # Actual altitude: 42.0256490000002 # Commanded vehicle depth: 1121.164101 # Seafloor depth: -1161.788172 # behavior reson { duration = 6; MB_Range = 168.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 168.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.646588 meters # Minimum depth: 1155.607181 meters looking forward 200.000000 meters along route # Maximum depth: 1161.808402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.607181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778749; longitude = -121.888083; duration = 402; initialDepth = 1110.530343; finalDepth = 1115.607181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.5450979999998 # Actual altitude: 45.5450979999998 # Commanded vehicle depth: 1115.607181 # Seafloor depth: -1161.152279 # behavior reson { duration = 6; MB_Range = 182.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 182.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.295881 meters # Minimum depth: 1150.530343 meters looking forward 200.000000 meters along route # Maximum depth: 1161.136577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.530343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778200; longitude = -121.887197; duration = 401; initialDepth = 1106.842995; finalDepth = 1110.530343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.5450979999998 # Actual altitude: 45.5450979999998 # Commanded vehicle depth: 1110.530343 # Seafloor depth: -1155.595845 # behavior reson { duration = 6; MB_Range = 182.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 182.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.471915 meters # Minimum depth: 1146.842995 meters looking forward 200.000000 meters along route # Maximum depth: 1155.488241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1106.842995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777652; longitude = -121.886314; duration = 401; initialDepth = 1104.802079; finalDepth = 1106.842995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.0655020000002 # Actual altitude: 45.0655020000002 # Commanded vehicle depth: 1106.842995 # Seafloor depth: -1150.386804 # behavior reson { duration = 6; MB_Range = 180.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 180.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.472369 meters # Minimum depth: 1144.802079 meters looking forward 200.000000 meters along route # Maximum depth: 1150.325544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1104.802079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777104; longitude = -121.885429; duration = 401; initialDepth = 1101.257187; finalDepth = 1104.802079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.543809 # Actual altitude: 43.543809 # Commanded vehicle depth: 1104.802079 # Seafloor depth: -1146.851773 # behavior reson { duration = 6; MB_Range = 174.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 174.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.472823 meters # Minimum depth: 1141.257187 meters looking forward 200.000000 meters along route # Maximum depth: 1146.840304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1101.257187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776556; longitude = -121.884544; duration = 401; initialDepth = 1099.238095; finalDepth = 1101.257187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.471215 # Actual altitude: 43.471215 # Commanded vehicle depth: 1101.257187 # Seafloor depth: -1144.728402 # behavior reson { duration = 6; MB_Range = 173.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 173.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.681169 meters # Minimum depth: 1139.238095 meters looking forward 200.000000 meters along route # Maximum depth: 1144.634126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.238095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776007; longitude = -121.883660; duration = 402; initialDepth = 1099.083837; finalDepth = 1099.238095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.471215 # Actual altitude: 43.471215 # Commanded vehicle depth: 1099.238095 # Seafloor depth: -1141.243938 # behavior reson { duration = 6; MB_Range = 173.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 173.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.265838 meters # Minimum depth: 1139.083837 meters looking forward 200.000000 meters along route # Maximum depth: 1141.170355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.083837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775458; longitude = -121.882773; duration = 401; initialDepth = 1099.083837; finalDepth = 1099.083837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0058430000001 # Actual altitude: 42.0058430000001 # Commanded vehicle depth: 1099.083837 # Seafloor depth: -1139.241057 # behavior reson { duration = 6; MB_Range = 168.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 168.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.474184 meters # Minimum depth: 1139.083837 meters looking forward 200.000000 meters along route # Maximum depth: 1140.030800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.083837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774910; longitude = -121.881890; duration = 401; initialDepth = 1099.468086; finalDepth = 1099.083837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.3948400000002 # Actual altitude: 40.3948400000002 # Commanded vehicle depth: 1099.083837 # Seafloor depth: -1139.478677 # behavior reson { duration = 6; MB_Range = 161.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 161.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.474638 meters # Minimum depth: 1139.468086 meters looking forward 200.000000 meters along route # Maximum depth: 1140.681565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.468086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774362; longitude = -121.881006; duration = 401; initialDepth = 1100.026759; finalDepth = 1099.468086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6178809999999 # Actual altitude: 40.6178809999999 # Commanded vehicle depth: 1099.468086 # Seafloor depth: -1140.085967 # behavior reson { duration = 6; MB_Range = 162.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 162.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.475092 meters # Minimum depth: 1140.026759 meters looking forward 200.000000 meters along route # Maximum depth: 1142.070812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1100.026759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773813; longitude = -121.880121; duration = 401; initialDepth = 1097.090260; finalDepth = 1100.026759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.7251209999999 # Actual altitude: 40.7251209999999 # Commanded vehicle depth: 1100.026759 # Seafloor depth: -1140.751880 # behavior reson { duration = 6; MB_Range = 162.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 162.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.715752 meters # Minimum depth: 1137.090260 meters looking forward 200.000000 meters along route # Maximum depth: 1142.070812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.090260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773265; longitude = -121.879237; duration = 402; initialDepth = 1095.330210; finalDepth = 1097.090260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.954367 # Actual altitude: 43.954367 # Commanded vehicle depth: 1097.09026 # Seafloor depth: -1141.044627 # behavior reson { duration = 6; MB_Range = 175.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 175.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.235793 meters # Minimum depth: 1135.330210 meters looking forward 200.000000 meters along route # Maximum depth: 1140.899628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.330210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772715; longitude = -121.878350; duration = 400; initialDepth = 1092.248356; finalDepth = 1095.330210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.954367 # Actual altitude: 43.954367 # Commanded vehicle depth: 1095.33021 # Seafloor depth: -1137.319171 # behavior reson { duration = 6; MB_Range = 175.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 175.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.476454 meters # Minimum depth: 1132.248356 meters looking forward 200.000000 meters along route # Maximum depth: 1138.884622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1092.248356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772168; longitude = -121.877467; duration = 401; initialDepth = 1090.057745; finalDepth = 1092.248356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0433249999999 # Actual altitude: 43.0433249999999 # Commanded vehicle depth: 1092.248356 # Seafloor depth: -1135.291681 # behavior reson { duration = 6; MB_Range = 172.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 172.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.476907 meters # Minimum depth: 1130.057745 meters looking forward 200.000000 meters along route # Maximum depth: 1135.264494 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1090.057745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771620; longitude = -121.876583; duration = 401; initialDepth = 1088.350470; finalDepth = 1090.057745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0433249999999 # Actual altitude: 43.0433249999999 # Commanded vehicle depth: 1090.057745 # Seafloor depth: -1132.192364 # behavior reson { duration = 6; MB_Range = 172.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 172.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.477361 meters # Minimum depth: 1128.350470 meters looking forward 200.000000 meters along route # Maximum depth: 1132.156574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.350470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771071; longitude = -121.875698; duration = 401; initialDepth = 1087.175538; finalDepth = 1088.350470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1346189999999 # Actual altitude: 42.1346189999999 # Commanded vehicle depth: 1088.35047 # Seafloor depth: -1129.958565 # behavior reson { duration = 6; MB_Range = 168.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 168.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.750337 meters # Minimum depth: 1127.175538 meters looking forward 200.000000 meters along route # Maximum depth: 1129.945835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.175538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770523; longitude = -121.874814; duration = 403; initialDepth = 1083.990809; finalDepth = 1087.175538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6080949999998 # Actual altitude: 41.6080949999998 # Commanded vehicle depth: 1087.175538 # Seafloor depth: -1128.348166 # behavior reson { duration = 6; MB_Range = 166.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.205748 meters # Minimum depth: 1123.990809 meters looking forward 200.000000 meters along route # Maximum depth: 1128.426885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.990809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769973; longitude = -121.873927; duration = 400; initialDepth = 1080.909075; finalDepth = 1083.990809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1764780000001 # Actual altitude: 43.1764780000001 # Commanded vehicle depth: 1083.990809 # Seafloor depth: -1127.167287 # behavior reson { duration = 6; MB_Range = 172.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 172.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.478723 meters # Minimum depth: 1120.909075 meters looking forward 200.000000 meters along route # Maximum depth: 1127.113651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1080.909075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769426; longitude = -121.873044; duration = 401; initialDepth = 1078.122210; finalDepth = 1080.909075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1764780000001 # Actual altitude: 43.1764780000001 # Commanded vehicle depth: 1080.909075 # Seafloor depth: -1123.790491 # behavior reson { duration = 6; MB_Range = 172.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 172.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.479177 meters # Minimum depth: 1118.122210 meters looking forward 200.000000 meters along route # Maximum depth: 1123.753569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.122210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768878; longitude = -121.872160; duration = 401; initialDepth = 1075.626011; finalDepth = 1078.122210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.8814159999999 # Actual altitude: 42.8814159999999 # Commanded vehicle depth: 1078.12221 # Seafloor depth: -1120.902188 # behavior reson { duration = 6; MB_Range = 171.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.479631 meters # Minimum depth: 1115.626011 meters looking forward 200.000000 meters along route # Maximum depth: 1120.829746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1075.626011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768329; longitude = -121.871275; duration = 401; initialDepth = 1073.627032; finalDepth = 1075.626011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.779978 # Actual altitude: 42.779978 # Commanded vehicle depth: 1075.626011 # Seafloor depth: -1118.080313 # behavior reson { duration = 6; MB_Range = 171.12; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 171.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.784923 meters # Minimum depth: 1113.627032 meters looking forward 200.000000 meters along route # Maximum depth: 1118.020620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1073.627032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767781; longitude = -121.870390; duration = 403; initialDepth = 1072.715112; finalDepth = 1073.627032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4543019999999 # Actual altitude: 42.4543019999999 # Commanded vehicle depth: 1073.627032 # Seafloor depth: -1115.633132 # behavior reson { duration = 6; MB_Range = 169.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 169.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.175701 meters # Minimum depth: 1112.715112 meters looking forward 200.000000 meters along route # Maximum depth: 1115.631554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.715112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767231; longitude = -121.869503; duration = 400; initialDepth = 1072.715112; finalDepth = 1072.715112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0060999999998 # Actual altitude: 42.0060999999998 # Commanded vehicle depth: 1072.715112 # Seafloor depth: -1113.633258 # behavior reson { duration = 6; MB_Range = 168.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 168.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.480993 meters # Minimum depth: 1112.715112 meters looking forward 200.000000 meters along route # Maximum depth: 1113.659631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.715112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766684; longitude = -121.868621; duration = 401; initialDepth = 1072.599179; finalDepth = 1072.715112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.918146 # Actual altitude: 40.918146 # Commanded vehicle depth: 1072.715112 # Seafloor depth: -1112.817697 # behavior reson { duration = 6; MB_Range = 163.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 163.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.481447 meters # Minimum depth: 1112.599179 meters looking forward 200.000000 meters along route # Maximum depth: 1113.220460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.599179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766135; longitude = -121.867737; duration = 401; initialDepth = 1071.527950; finalDepth = 1072.599179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.559199 # Actual altitude: 40.559199 # Commanded vehicle depth: 1072.599179 # Seafloor depth: -1113.158378 # behavior reson { duration = 6; MB_Range = 162.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 162.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.481901 meters # Minimum depth: 1111.527950 meters looking forward 200.000000 meters along route # Maximum depth: 1113.146286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.527950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765587; longitude = -121.866852; duration = 401; initialDepth = 1071.257847; finalDepth = 1071.527950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.195704 # Actual altitude: 41.195704 # Commanded vehicle depth: 1071.52795 # Seafloor depth: -1112.723654 # behavior reson { duration = 6; MB_Range = 164.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 164.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.819511 meters # Minimum depth: 1111.257847 meters looking forward 200.000000 meters along route # Maximum depth: 1112.795157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.257847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765039; longitude = -121.865967; duration = 403; initialDepth = 1069.935968; finalDepth = 1071.257847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.195704 # Actual altitude: 41.195704 # Commanded vehicle depth: 1071.257847 # Seafloor depth: -1111.830003 # behavior reson { duration = 6; MB_Range = 164.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 164.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.145653 meters # Minimum depth: 1109.935968 meters looking forward 200.000000 meters along route # Maximum depth: 1112.143936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.935968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764488; longitude = -121.865080; duration = 400; initialDepth = 1069.844270; finalDepth = 1069.935968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.320663 # Actual altitude: 41.320663 # Commanded vehicle depth: 1069.935968 # Seafloor depth: -1111.256631 # behavior reson { duration = 6; MB_Range = 165.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 165.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.483263 meters # Minimum depth: 1109.844270 meters looking forward 200.000000 meters along route # Maximum depth: 1113.447884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.844270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763942; longitude = -121.864198; duration = 401; initialDepth = 1067.036783; finalDepth = 1069.844270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.320663 # Actual altitude: 41.320663 # Commanded vehicle depth: 1069.84427 # Seafloor depth: -1109.942681 # behavior reson { duration = 6; MB_Range = 165.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.79; MB_Bottom_Detect_Filter_Max_Range = 165.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.483717 meters # Minimum depth: 1107.036783 meters looking forward 200.000000 meters along route # Maximum depth: 1113.447884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.036783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763393; longitude = -121.863314; duration = 401; initialDepth = 1066.675458; finalDepth = 1067.036783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.3881100000001 # Actual altitude: 46.3881100000001 # Commanded vehicle depth: 1067.036783 # Seafloor depth: -1113.424893 # behavior reson { duration = 6; MB_Range = 185.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 185.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.484171 meters # Minimum depth: 1106.675458 meters looking forward 200.000000 meters along route # Maximum depth: 1113.421911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.675458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762845; longitude = -121.862429; duration = 401; initialDepth = 1060.065387; finalDepth = 1066.675458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.3881100000001 # Actual altitude: 46.3881100000001 # Commanded vehicle depth: 1066.675458 # Seafloor depth: -1106.980191 # behavior reson { duration = 6; MB_Range = 185.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 185.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.854101 meters # Minimum depth: 1100.065387 meters looking forward 200.000000 meters along route # Maximum depth: 1108.462121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.065387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762296; longitude = -121.861544; duration = 403; initialDepth = 1056.526074; finalDepth = 1060.065387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.582717 # Actual altitude: 46.582717 # Commanded vehicle depth: 1060.065387 # Seafloor depth: -1106.648104 # behavior reson { duration = 6; MB_Range = 186.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 186.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.115604 meters # Minimum depth: 1096.526074 meters looking forward 200.000000 meters along route # Maximum depth: 1106.427356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.526074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761746; longitude = -121.860656; duration = 400; initialDepth = 1053.843993; finalDepth = 1056.526074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.582717 # Actual altitude: 46.582717 # Commanded vehicle depth: 1056.526074 # Seafloor depth: -1100.055725 # behavior reson { duration = 6; MB_Range = 186.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 186.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.485534 meters # Minimum depth: 1093.843993 meters looking forward 200.000000 meters along route # Maximum depth: 1099.985235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.843993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761200; longitude = -121.859775; duration = 401; initialDepth = 1050.549941; finalDepth = 1053.843993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5296509999998 # Actual altitude: 43.5296509999998 # Commanded vehicle depth: 1053.843993 # Seafloor depth: -1096.424211 # behavior reson { duration = 6; MB_Range = 174.12; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.485987 meters # Minimum depth: 1090.549941 meters looking forward 200.000000 meters along route # Maximum depth: 1096.379047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.549941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760651; longitude = -121.858890; duration = 401; initialDepth = 1049.427384; finalDepth = 1050.549941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1512950000001 # Actual altitude: 43.1512950000001 # Commanded vehicle depth: 1050.549941 # Seafloor depth: -1093.701236 # behavior reson { duration = 6; MB_Range = 172.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 172.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.486442 meters # Minimum depth: 1089.427384 meters looking forward 200.000000 meters along route # Maximum depth: 1093.550463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.427384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760103; longitude = -121.858006; duration = 401; initialDepth = 1049.427384; finalDepth = 1049.427384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1512950000001 # Actual altitude: 43.1512950000001 # Commanded vehicle depth: 1049.427384 # Seafloor depth: -1090.508341 # behavior reson { duration = 6; MB_Range = 172.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 172.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.888693 meters # Minimum depth: 1089.427384 meters looking forward 200.000000 meters along route # Maximum depth: 1090.449072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.427384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759554; longitude = -121.857121; duration = 403; initialDepth = 1049.657734; finalDepth = 1049.427384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.0809569999999 # Actual altitude: 41.0809569999999 # Commanded vehicle depth: 1049.427384 # Seafloor depth: -1089.730365 # behavior reson { duration = 6; MB_Range = 164.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 164.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.085553 meters # Minimum depth: 1089.657734 meters looking forward 200.000000 meters along route # Maximum depth: 1091.939074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.657734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759004; longitude = -121.856233; duration = 400; initialDepth = 1043.283209; finalDepth = 1049.657734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.3553160000001 # Actual altitude: 40.3553160000001 # Commanded vehicle depth: 1049.657734 # Seafloor depth: -1090.013050 # behavior reson { duration = 6; MB_Range = 161.42; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 161.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.487805 meters # Minimum depth: 1083.283209 meters looking forward 200.000000 meters along route # Maximum depth: 1091.939074 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.283209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758458; longitude = -121.855352; duration = 401; initialDepth = 1040.768412; finalDepth = 1043.283209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.1500210000002 # Actual altitude: 46.1500210000002 # Commanded vehicle depth: 1043.283209 # Seafloor depth: -1089.433230 # behavior reson { duration = 6; MB_Range = 184.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 184.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.488258 meters # Minimum depth: 1080.768412 meters looking forward 200.000000 meters along route # Maximum depth: 1089.351593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.768412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757909; longitude = -121.854467; duration = 401; initialDepth = 1038.296096; finalDepth = 1040.768412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.1500210000002 # Actual altitude: 46.1500210000002 # Commanded vehicle depth: 1040.768412 # Seafloor depth: -1083.222358 # behavior reson { duration = 6; MB_Range = 184.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 184.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.488713 meters # Minimum depth: 1078.296096 meters looking forward 200.000000 meters along route # Maximum depth: 1083.135414 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.296096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757361; longitude = -121.853583; duration = 401; initialDepth = 1036.553113; finalDepth = 1038.296096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.460214 # Actual altitude: 42.460214 # Commanded vehicle depth: 1038.296096 # Seafloor depth: -1080.756310 # behavior reson { duration = 6; MB_Range = 169.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.923286 meters # Minimum depth: 1076.553113 meters looking forward 200.000000 meters along route # Maximum depth: 1080.670684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.553113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756812; longitude = -121.852698; duration = 403; initialDepth = 1036.553113; finalDepth = 1036.553113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.460214 # Actual altitude: 42.460214 # Commanded vehicle depth: 1036.553113 # Seafloor depth: -1078.279030 # behavior reson { duration = 6; MB_Range = 169.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.055502 meters # Minimum depth: 1076.553113 meters looking forward 200.000000 meters along route # Maximum depth: 1078.782196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.553113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756261; longitude = -121.851810; duration = 400; initialDepth = 1036.089857; finalDepth = 1036.553113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.725917 # Actual altitude: 41.725917 # Commanded vehicle depth: 1036.553113 # Seafloor depth: -1076.607529 # behavior reson { duration = 6; MB_Range = 166.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 166.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.490076 meters # Minimum depth: 1076.089857 meters looking forward 200.000000 meters along route # Maximum depth: 1078.782196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.089857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755715; longitude = -121.850929; duration = 401; initialDepth = 1034.998463; finalDepth = 1036.089857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4050090000001 # Actual altitude: 42.4050090000001 # Commanded vehicle depth: 1036.089857 # Seafloor depth: -1078.494866 # behavior reson { duration = 6; MB_Range = 169.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.490529 meters # Minimum depth: 1074.998463 meters looking forward 200.000000 meters along route # Maximum depth: 1078.465357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.998463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755167; longitude = -121.850044; duration = 401; initialDepth = 1032.359092; finalDepth = 1034.998463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4050090000001 # Actual altitude: 42.4050090000001 # Commanded vehicle depth: 1034.998463 # Seafloor depth: -1076.111247 # behavior reson { duration = 6; MB_Range = 169.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.490984 meters # Minimum depth: 1072.359092 meters looking forward 200.000000 meters along route # Maximum depth: 1076.184957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.359092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754619; longitude = -121.849160; duration = 401; initialDepth = 1028.818908; finalDepth = 1032.359092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.509035 # Actual altitude: 43.509035 # Commanded vehicle depth: 1032.359092 # Seafloor depth: -1075.868127 # behavior reson { duration = 6; MB_Range = 174.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 174.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.957881 meters # Minimum depth: 1068.818908 meters looking forward 200.000000 meters along route # Maximum depth: 1075.871612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.818908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754070; longitude = -121.848275; duration = 403; initialDepth = 1026.471224; finalDepth = 1028.818908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5208620000001 # Actual altitude: 43.5208620000001 # Commanded vehicle depth: 1028.818908 # Seafloor depth: -1072.339770 # behavior reson { duration = 6; MB_Range = 174.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 174.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.025450 meters # Minimum depth: 1066.471224 meters looking forward 200.000000 meters along route # Maximum depth: 1072.161194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.471224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753519; longitude = -121.847386; duration = 400; initialDepth = 1025.215614; finalDepth = 1026.471224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5208620000001 # Actual altitude: 43.5208620000001 # Commanded vehicle depth: 1026.471224 # Seafloor depth: -1068.802476 # behavior reson { duration = 6; MB_Range = 174.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 174.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.492347 meters # Minimum depth: 1065.215614 meters looking forward 200.000000 meters along route # Maximum depth: 1068.767688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.215614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752973; longitude = -121.846506; duration = 401; initialDepth = 1023.892133; finalDepth = 1025.215614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3312520000002 # Actual altitude: 42.3312520000002 # Commanded vehicle depth: 1025.215614 # Seafloor depth: -1066.375671 # behavior reson { duration = 6; MB_Range = 169.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.492801 meters # Minimum depth: 1063.892133 meters looking forward 200.000000 meters along route # Maximum depth: 1066.349218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.892133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752425; longitude = -121.845621; duration = 401; initialDepth = 1023.892133; finalDepth = 1023.892133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2698339999999 # Actual altitude: 41.2698339999999 # Commanded vehicle depth: 1023.892133 # Seafloor depth: -1065.161967 # behavior reson { duration = 6; MB_Range = 165.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 165.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.493255 meters # Minimum depth: 1063.892133 meters looking forward 200.000000 meters along route # Maximum depth: 1065.159959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.892133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751876; longitude = -121.844737; duration = 401; initialDepth = 1022.840886; finalDepth = 1023.892133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2698339999999 # Actual altitude: 41.2698339999999 # Commanded vehicle depth: 1023.892133 # Seafloor depth: -1063.983134 # behavior reson { duration = 6; MB_Range = 165.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 165.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.493710 meters # Minimum depth: 1062.840886 meters looking forward 200.000000 meters along route # Maximum depth: 1065.189335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1022.840886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751328; longitude = -121.843852; duration = 401; initialDepth = 1020.136428; finalDepth = 1022.840886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.669099 # Actual altitude: 41.669099 # Commanded vehicle depth: 1022.840886 # Seafloor depth: -1064.509985 # behavior reson { duration = 6; MB_Range = 166.68; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.494164 meters # Minimum depth: 1060.136428 meters looking forward 200.000000 meters along route # Maximum depth: 1065.589087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.136428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750780; longitude = -121.842967; duration = 401; initialDepth = 1016.841615; finalDepth = 1020.136428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.1346389999999 # Actual altitude: 45.1346389999999 # Commanded vehicle depth: 1020.136428 # Seafloor depth: -1065.271067 # behavior reson { duration = 6; MB_Range = 180.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 180.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.494618 meters # Minimum depth: 1056.841615 meters looking forward 200.000000 meters along route # Maximum depth: 1065.589087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.841615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750231; longitude = -121.842083; duration = 401; initialDepth = 1016.642152; finalDepth = 1016.841615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.1346389999999 # Actual altitude: 45.1346389999999 # Commanded vehicle depth: 1016.841615 # Seafloor depth: -1060.000910 # behavior reson { duration = 6; MB_Range = 180.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 180.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.495073 meters # Minimum depth: 1056.642152 meters looking forward 200.000000 meters along route # Maximum depth: 1059.973965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.642152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749683; longitude = -121.841198; duration = 401; initialDepth = 1014.251844; finalDepth = 1016.642152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1592949999999 # Actual altitude: 43.1592949999999 # Commanded vehicle depth: 1016.642152 # Seafloor depth: -1056.879009 # behavior reson { duration = 6; MB_Range = 172.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 172.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.495527 meters # Minimum depth: 1054.251844 meters looking forward 200.000000 meters along route # Maximum depth: 1057.607660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1014.251844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749134; longitude = -121.840314; duration = 401; initialDepth = 1013.265696; finalDepth = 1014.251844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3218400000001 # Actual altitude: 42.3218400000001 # Commanded vehicle depth: 1014.251844 # Seafloor depth: -1056.573684 # behavior reson { duration = 6; MB_Range = 169.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.495982 meters # Minimum depth: 1053.265696 meters looking forward 200.000000 meters along route # Maximum depth: 1056.454623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.265696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748586; longitude = -121.839429; duration = 401; initialDepth = 1012.244356; finalDepth = 1013.265696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3218400000001 # Actual altitude: 42.3218400000001 # Commanded vehicle depth: 1013.265696 # Seafloor depth: -1054.246943 # behavior reson { duration = 6; MB_Range = 169.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.496436 meters # Minimum depth: 1052.244356 meters looking forward 200.000000 meters along route # Maximum depth: 1054.262600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.244356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748037; longitude = -121.838544; duration = 401; initialDepth = 1011.234645; finalDepth = 1012.244356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.040256 # Actual altitude: 41.040256 # Commanded vehicle depth: 1012.244356 # Seafloor depth: -1053.284612 # behavior reson { duration = 6; MB_Range = 164.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 164.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.496890 meters # Minimum depth: 1051.234645 meters looking forward 200.000000 meters along route # Maximum depth: 1053.316530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.234645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747489; longitude = -121.837660; duration = 401; initialDepth = 1009.503812; finalDepth = 1011.234645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2212059999999 # Actual altitude: 41.2212059999999 # Commanded vehicle depth: 1011.234645 # Seafloor depth: -1052.455851 # behavior reson { duration = 6; MB_Range = 164.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 164.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.497345 meters # Minimum depth: 1049.503812 meters looking forward 200.000000 meters along route # Maximum depth: 1052.452260 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1009.503812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746941; longitude = -121.836775; duration = 401; initialDepth = 1007.535596; finalDepth = 1009.503812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6470160000001 # Actual altitude: 41.6470160000001 # Commanded vehicle depth: 1009.503812 # Seafloor depth: -1051.150828 # behavior reson { duration = 6; MB_Range = 166.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.497800 meters # Minimum depth: 1047.535596 meters looking forward 200.000000 meters along route # Maximum depth: 1051.097009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.535596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746392; longitude = -121.835891; duration = 401; initialDepth = 1006.004659; finalDepth = 1007.535596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9673 # Actual altitude: 41.9673 # Commanded vehicle depth: 1007.535596 # Seafloor depth: -1049.502896 # behavior reson { duration = 6; MB_Range = 167.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.498253 meters # Minimum depth: 1046.004659 meters looking forward 200.000000 meters along route # Maximum depth: 1049.419331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.004659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745844; longitude = -121.835006; duration = 401; initialDepth = 1005.244644; finalDepth = 1006.004659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9673 # Actual altitude: 41.9673 # Commanded vehicle depth: 1006.004659 # Seafloor depth: -1047.533796 # behavior reson { duration = 6; MB_Range = 167.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.498708 meters # Minimum depth: 1045.244644 meters looking forward 200.000000 meters along route # Maximum depth: 1047.492321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.244644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745295; longitude = -121.834121; duration = 401; initialDepth = 1004.650258; finalDepth = 1005.244644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.529137 # Actual altitude: 41.529137 # Commanded vehicle depth: 1005.244644 # Seafloor depth: -1045.911698 # behavior reson { duration = 6; MB_Range = 166.12; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 166.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.499163 meters # Minimum depth: 1044.650258 meters looking forward 200.000000 meters along route # Maximum depth: 1045.870643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.650258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744747; longitude = -121.833237; duration = 401; initialDepth = 1004.387138; finalDepth = 1004.650258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6670539999998 # Actual altitude: 40.6670539999998 # Commanded vehicle depth: 1004.650258 # Seafloor depth: -1045.246307 # behavior reson { duration = 6; MB_Range = 162.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 162.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.499617 meters # Minimum depth: 1044.387138 meters looking forward 200.000000 meters along route # Maximum depth: 1045.233347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.387138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744198; longitude = -121.832352; duration = 401; initialDepth = 1003.555890; finalDepth = 1004.387138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.7059959999999 # Actual altitude: 40.7059959999999 # Commanded vehicle depth: 1004.387138 # Seafloor depth: -1045.093134 # behavior reson { duration = 6; MB_Range = 162.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.500072 meters # Minimum depth: 1043.555890 meters looking forward 200.000000 meters along route # Maximum depth: 1045.085286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.555890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743650; longitude = -121.831467; duration = 402; initialDepth = 1000.829299; finalDepth = 1003.555890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9256499999999 # Actual altitude: 40.9256499999999 # Commanded vehicle depth: 1003.55589 # Seafloor depth: -1044.481540 # behavior reson { duration = 6; MB_Range = 163.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 163.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.500526 meters # Minimum depth: 1040.829299 meters looking forward 200.000000 meters along route # Maximum depth: 1044.563671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.829299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743102; longitude = -121.830583; duration = 402; initialDepth = 999.236083; finalDepth = 1000.829299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7230910000001 # Actual altitude: 42.7230910000001 # Commanded vehicle depth: 1000.829299 # Seafloor depth: -1043.552390 # behavior reson { duration = 6; MB_Range = 170.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 170.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 100.500981 meters # Minimum depth: 1039.236083 meters looking forward 200.000000 meters along route # Maximum depth: 1043.494143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 999.236083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742553; longitude = -121.829698; duration = 402; initialDepth = 997.705934; finalDepth = 999.236083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7230910000001 # Actual altitude: 42.7230910000001 # Commanded vehicle depth: 999.236083 # Seafloor depth: -1040.773935 # behavior reson { duration = 6; MB_Range = 170.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 170.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 194 # Segment length 101.294964 meters # Minimum depth: 1037.705934 meters looking forward 200.000000 meters along route # Maximum depth: 1040.719572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.705934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742005; longitude = -121.828814; duration = 405; initialDepth = 997.568052; finalDepth = 997.705934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.5378519999999 # Actual altitude: 41.5378519999999 # Commanded vehicle depth: 997.705934 # Seafloor depth: -1039.194302 # behavior reson { duration = 6; MB_Range = 166.15; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 166.15; 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 193 # Segment length 107.136510 meters # Minimum depth: 1037.568052 meters looking forward 200.000000 meters along route # Maximum depth: 1039.093466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.568052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741452; longitude = -121.827922; duration = 428; # abortOnTimeout = True; initialDepth = 997.863794; finalDepth = 997.568052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.488368 # Actual altitude: 41.488368 # Commanded vehicle depth: 997.568052 # Seafloor depth: -1037.725159 # behavior reson { duration = 6; MB_Range = 165.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.95; 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 192 # Segment length 136.083519 meters # Minimum depth: 1037.863794 meters looking forward 200.000000 meters along route # Maximum depth: 1040.193382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.863794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.740677; longitude = -121.828629; duration = 544; # abortOnTimeout = True; initialDepth = 998.591459; finalDepth = 997.863794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.388708 # Actual altitude: 40.388708 # Commanded vehicle depth: 997.863794 # Seafloor depth: -1038.252502 # behavior reson { duration = 6; MB_Range = 161.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.23; MB_Bottom_Detect_Filter_Max_Range = 161.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 192 # Segment length 100.158309 meters # Minimum depth: 1038.591459 meters looking forward 200.000000 meters along route # Maximum depth: 1042.149294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 998.591459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741415; longitude = -121.829831; duration = 400; initialDepth = 1000.160437; finalDepth = 998.591459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.548043 # Actual altitude: 41.548043 # Commanded vehicle depth: 998.591459 # Seafloor depth: -1040.139502 # behavior reson { duration = 6; MB_Range = 166.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 166.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.157857 meters # Minimum depth: 1040.160437 meters looking forward 200.000000 meters along route # Maximum depth: 1046.646294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.160437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741958; longitude = -121.830716; duration = 400; initialDepth = 1002.126134; finalDepth = 1000.160437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0520590000001 # Actual altitude: 42.0520590000001 # Commanded vehicle depth: 1000.160437 # Seafloor depth: -1042.212496 # behavior reson { duration = 6; MB_Range = 168.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.157405 meters # Minimum depth: 1042.126134 meters looking forward 200.000000 meters along route # Maximum depth: 1047.768359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.126134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742502; longitude = -121.831600; duration = 400; initialDepth = 1005.869041; finalDepth = 1002.126134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.6617469999999 # Actual altitude: 44.6617469999999 # Commanded vehicle depth: 1002.126134 # Seafloor depth: -1046.787881 # behavior reson { duration = 6; MB_Range = 178.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.156953 meters # Minimum depth: 1045.869041 meters looking forward 200.000000 meters along route # Maximum depth: 1047.768359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.869041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743045; longitude = -121.832485; duration = 400; initialDepth = 1006.001481; finalDepth = 1005.869041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.6617469999999 # Actual altitude: 44.6617469999999 # Commanded vehicle depth: 1005.869041 # Seafloor depth: -1045.974250 # behavior reson { duration = 6; MB_Range = 178.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.156501 meters # Minimum depth: 1046.001481 meters looking forward 200.000000 meters along route # Maximum depth: 1047.280196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.001481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743588; longitude = -121.833369; duration = 400; initialDepth = 1006.158827; finalDepth = 1006.001481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.131648 # Actual altitude: 41.131648 # Commanded vehicle depth: 1006.001481 # Seafloor depth: -1047.133129 # behavior reson { duration = 6; MB_Range = 164.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 164.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.156050 meters # Minimum depth: 1046.158827 meters looking forward 200.000000 meters along route # Maximum depth: 1046.844921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.158827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744132; longitude = -121.834254; duration = 400; initialDepth = 1006.158827; finalDepth = 1006.158827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.131648 # Actual altitude: 41.131648 # Commanded vehicle depth: 1006.158827 # Seafloor depth: -1046.323451 # behavior reson { duration = 6; MB_Range = 164.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 164.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.155597 meters # Minimum depth: 1046.158827 meters looking forward 200.000000 meters along route # Maximum depth: 1048.303970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.158827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744675; longitude = -121.835139; duration = 400; initialDepth = 1006.607656; finalDepth = 1006.158827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.425483 # Actual altitude: 40.425483 # Commanded vehicle depth: 1006.158827 # Seafloor depth: -1046.584310 # behavior reson { duration = 6; MB_Range = 161.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 161.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.155146 meters # Minimum depth: 1046.607656 meters looking forward 200.000000 meters along route # Maximum depth: 1050.400762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.607656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745218; longitude = -121.836023; duration = 400; initialDepth = 1008.323011; finalDepth = 1006.607656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7898910000001 # Actual altitude: 41.7898910000001 # Commanded vehicle depth: 1006.607656 # Seafloor depth: -1048.397547 # behavior reson { duration = 6; MB_Range = 167.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 167.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.154694 meters # Minimum depth: 1048.323011 meters looking forward 200.000000 meters along route # Maximum depth: 1052.344977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.323011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745762; longitude = -121.836908; duration = 400; initialDepth = 1010.477774; finalDepth = 1008.323011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.101983 # Actual altitude: 42.101983 # Commanded vehicle depth: 1008.323011 # Seafloor depth: -1050.424994 # behavior reson { duration = 6; MB_Range = 168.41; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 168.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.154242 meters # Minimum depth: 1050.477774 meters looking forward 200.000000 meters along route # Maximum depth: 1052.446139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1010.477774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746305; longitude = -121.837792; duration = 400; initialDepth = 1011.803957; finalDepth = 1010.477774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.101983 # Actual altitude: 42.101983 # Commanded vehicle depth: 1010.477774 # Seafloor depth: -1052.324647 # behavior reson { duration = 6; MB_Range = 168.41; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 168.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.153790 meters # Minimum depth: 1051.803957 meters looking forward 200.000000 meters along route # Maximum depth: 1053.416806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.803957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746848; longitude = -121.838677; duration = 400; initialDepth = 1012.061917; finalDepth = 1011.803957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.846873 # Actual altitude: 41.846873 # Commanded vehicle depth: 1011.803957 # Seafloor depth: -1051.968063 # behavior reson { duration = 6; MB_Range = 167.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 167.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.153339 meters # Minimum depth: 1052.061917 meters looking forward 200.000000 meters along route # Maximum depth: 1055.530572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.061917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747391; longitude = -121.839562; duration = 400; initialDepth = 1013.416314; finalDepth = 1012.061917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4006979999999 # Actual altitude: 41.4006979999999 # Commanded vehicle depth: 1012.061917 # Seafloor depth: -1053.462615 # behavior reson { duration = 6; MB_Range = 165.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 165.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.152887 meters # Minimum depth: 1053.416314 meters looking forward 200.000000 meters along route # Maximum depth: 1058.460747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.416314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747935; longitude = -121.840446; duration = 400; initialDepth = 1015.671619; finalDepth = 1013.416314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1743569999999 # Actual altitude: 42.1743569999999 # Commanded vehicle depth: 1013.416314 # Seafloor depth: -1055.590671 # behavior reson { duration = 6; MB_Range = 168.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.152435 meters # Minimum depth: 1055.671619 meters looking forward 200.000000 meters along route # Maximum depth: 1058.460747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.671619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748478; longitude = -121.841331; duration = 400; initialDepth = 1016.848376; finalDepth = 1015.671619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1743569999999 # Actual altitude: 42.1743569999999 # Commanded vehicle depth: 1015.671619 # Seafloor depth: -1057.581844 # behavior reson { duration = 6; MB_Range = 168.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.151983 meters # Minimum depth: 1056.848376 meters looking forward 200.000000 meters along route # Maximum depth: 1059.543593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.848376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749021; longitude = -121.842216; duration = 400; initialDepth = 1017.118125; finalDepth = 1016.848376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9102250000001 # Actual altitude: 41.9102250000001 # Commanded vehicle depth: 1016.848376 # Seafloor depth: -1057.056399 # behavior reson { duration = 6; MB_Range = 167.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 167.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.151531 meters # Minimum depth: 1057.118125 meters looking forward 200.000000 meters along route # Maximum depth: 1062.191776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.118125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749565; longitude = -121.843100; duration = 400; initialDepth = 1019.632646; finalDepth = 1017.118125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.426322 # Actual altitude: 42.426322 # Commanded vehicle depth: 1017.118125 # Seafloor depth: -1059.544447 # behavior reson { duration = 6; MB_Range = 169.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.151080 meters # Minimum depth: 1059.632646 meters looking forward 200.000000 meters along route # Maximum depth: 1064.848864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.632646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750108; longitude = -121.843985; duration = 400; initialDepth = 1022.350694; finalDepth = 1019.632646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.708118 # Actual altitude: 42.708118 # Commanded vehicle depth: 1019.632646 # Seafloor depth: -1062.340764 # behavior reson { duration = 6; MB_Range = 170.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 170.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.150628 meters # Minimum depth: 1062.350694 meters looking forward 200.000000 meters along route # Maximum depth: 1066.111016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1022.350694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750651; longitude = -121.844869; duration = 400; initialDepth = 1023.918094; finalDepth = 1022.350694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.708118 # Actual altitude: 42.708118 # Commanded vehicle depth: 1022.350694 # Seafloor depth: -1064.509079 # behavior reson { duration = 6; MB_Range = 170.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 170.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.150176 meters # Minimum depth: 1063.918094 meters looking forward 200.000000 meters along route # Maximum depth: 1070.580818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.918094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751195; longitude = -121.845754; duration = 400; initialDepth = 1026.252097; finalDepth = 1023.918094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3064159999999 # Actual altitude: 42.3064159999999 # Commanded vehicle depth: 1023.918094 # Seafloor depth: -1066.224510 # behavior reson { duration = 6; MB_Range = 169.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.149725 meters # Minimum depth: 1066.252097 meters looking forward 200.000000 meters along route # Maximum depth: 1070.580818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.252097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751738; longitude = -121.846639; duration = 400; initialDepth = 1026.422958; finalDepth = 1026.252097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7856549999999 # Actual altitude: 43.7856549999999 # Commanded vehicle depth: 1026.252097 # Seafloor depth: -1070.037752 # behavior reson { duration = 6; MB_Range = 175.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 175.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.149273 meters # Minimum depth: 1066.422958 meters looking forward 200.000000 meters along route # Maximum depth: 1071.003455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.422958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752281; longitude = -121.847523; duration = 400; initialDepth = 1026.957061; finalDepth = 1026.422958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7856549999999 # Actual altitude: 43.7856549999999 # Commanded vehicle depth: 1026.422958 # Seafloor depth: -1066.855612 # behavior reson { duration = 6; MB_Range = 175.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 175.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.148821 meters # Minimum depth: 1066.957061 meters looking forward 200.000000 meters along route # Maximum depth: 1072.273304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.957061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752824; longitude = -121.848408; duration = 400; initialDepth = 1031.039622; finalDepth = 1026.957061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2118519999999 # Actual altitude: 44.2118519999999 # Commanded vehicle depth: 1026.957061 # Seafloor depth: -1071.168913 # behavior reson { duration = 6; MB_Range = 176.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.148370 meters # Minimum depth: 1071.039622 meters looking forward 200.000000 meters along route # Maximum depth: 1072.987748 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.039622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753368; longitude = -121.849292; duration = 400; initialDepth = 1031.241011; finalDepth = 1031.039622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2118519999999 # Actual altitude: 44.2118519999999 # Commanded vehicle depth: 1031.039622 # Seafloor depth: -1071.205906 # behavior reson { duration = 6; MB_Range = 176.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.147918 meters # Minimum depth: 1071.241011 meters looking forward 200.000000 meters along route # Maximum depth: 1074.050242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.241011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753911; longitude = -121.850177; duration = 400; initialDepth = 1033.057845; finalDepth = 1031.241011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7925319999999 # Actual altitude: 41.7925319999999 # Commanded vehicle depth: 1031.241011 # Seafloor depth: -1073.033543 # behavior reson { duration = 6; MB_Range = 167.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.147466 meters # Minimum depth: 1073.057845 meters looking forward 200.000000 meters along route # Maximum depth: 1076.372175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.057845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754454; longitude = -121.851062; duration = 400; initialDepth = 1034.070624; finalDepth = 1033.057845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7925319999999 # Actual altitude: 41.7925319999999 # Commanded vehicle depth: 1033.057845 # Seafloor depth: -1074.071057 # behavior reson { duration = 6; MB_Range = 167.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.147015 meters # Minimum depth: 1074.070624 meters looking forward 200.000000 meters along route # Maximum depth: 1078.789899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.070624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754998; longitude = -121.851946; duration = 400; initialDepth = 1036.386550; finalDepth = 1034.070624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.313101 # Actual altitude: 42.313101 # Commanded vehicle depth: 1034.070624 # Seafloor depth: -1076.383725 # behavior reson { duration = 6; MB_Range = 169.25; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.193506 meters # Minimum depth: 1076.386550 meters looking forward 200.000000 meters along route # Maximum depth: 1082.868844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.386550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755541; longitude = -121.852831; duration = 400; initialDepth = 1039.056611; finalDepth = 1036.386550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.520802 # Actual altitude: 42.520802 # Commanded vehicle depth: 1036.38655 # Seafloor depth: -1078.907352 # behavior reson { duration = 6; MB_Range = 170.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.099169 meters # Minimum depth: 1079.056611 meters looking forward 200.000000 meters along route # Maximum depth: 1084.874234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.056611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756085; longitude = -121.853716; duration = 400; initialDepth = 1042.945524; finalDepth = 1039.056611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.813359 # Actual altitude: 43.813359 # Commanded vehicle depth: 1039.056611 # Seafloor depth: -1082.869970 # behavior reson { duration = 6; MB_Range = 175.25; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 175.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.145660 meters # Minimum depth: 1082.945524 meters looking forward 200.000000 meters along route # Maximum depth: 1087.106767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.945524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756628; longitude = -121.854600; duration = 400; initialDepth = 1044.760298; finalDepth = 1042.945524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.813359 # Actual altitude: 43.813359 # Commanded vehicle depth: 1042.945524 # Seafloor depth: -1084.749830 # behavior reson { duration = 6; MB_Range = 175.25; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 175.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.145208 meters # Minimum depth: 1084.760298 meters looking forward 200.000000 meters along route # Maximum depth: 1088.650184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.760298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757171; longitude = -121.855485; duration = 400; initialDepth = 1047.184380; finalDepth = 1044.760298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3573760000002 # Actual altitude: 42.3573760000002 # Commanded vehicle depth: 1044.760298 # Seafloor depth: -1087.117674 # behavior reson { duration = 6; MB_Range = 169.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 169.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.144757 meters # Minimum depth: 1087.184380 meters looking forward 200.000000 meters along route # Maximum depth: 1089.356701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.184380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757714; longitude = -121.856369; duration = 400; initialDepth = 1048.403072; finalDepth = 1047.184380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3573760000002 # Actual altitude: 42.3573760000002 # Commanded vehicle depth: 1047.18438 # Seafloor depth: -1088.646870 # behavior reson { duration = 6; MB_Range = 169.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 169.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.144305 meters # Minimum depth: 1088.403072 meters looking forward 200.000000 meters along route # Maximum depth: 1089.463400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.403072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758257; longitude = -121.857254; duration = 400; initialDepth = 1048.583801; finalDepth = 1048.403072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4624900000001 # Actual altitude: 41.4624900000001 # Commanded vehicle depth: 1048.403072 # Seafloor depth: -1089.290595 # behavior reson { duration = 6; MB_Range = 165.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 165.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.143854 meters # Minimum depth: 1088.583801 meters looking forward 200.000000 meters along route # Maximum depth: 1089.734249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.583801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758801; longitude = -121.858139; duration = 400; initialDepth = 1048.583801; finalDepth = 1048.583801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.8875229999999 # Actual altitude: 40.8875229999999 # Commanded vehicle depth: 1048.583801 # Seafloor depth: -1088.775849 # behavior reson { duration = 6; MB_Range = 163.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.53; MB_Bottom_Detect_Filter_Max_Range = 163.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.143402 meters # Minimum depth: 1088.583801 meters looking forward 200.000000 meters along route # Maximum depth: 1091.810912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.583801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759344; longitude = -121.859023; duration = 400; initialDepth = 1049.845065; finalDepth = 1048.583801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.176631 # Actual altitude: 41.176631 # Commanded vehicle depth: 1048.583801 # Seafloor depth: -1089.760432 # behavior reson { duration = 6; MB_Range = 164.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 164.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.142950 meters # Minimum depth: 1089.845065 meters looking forward 200.000000 meters along route # Maximum depth: 1093.697783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.845065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759887; longitude = -121.859908; duration = 400; initialDepth = 1051.899393; finalDepth = 1049.845065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.925888 # Actual altitude: 41.925888 # Commanded vehicle depth: 1049.845065 # Seafloor depth: -1091.770953 # behavior reson { duration = 6; MB_Range = 167.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.142500 meters # Minimum depth: 1091.899393 meters looking forward 200.000000 meters along route # Maximum depth: 1096.110399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.899393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760431; longitude = -121.860792; duration = 400; initialDepth = 1053.748980; finalDepth = 1051.899393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.925888 # Actual altitude: 41.925888 # Commanded vehicle depth: 1051.899393 # Seafloor depth: -1093.676724 # behavior reson { duration = 6; MB_Range = 167.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.142047 meters # Minimum depth: 1093.748980 meters looking forward 200.000000 meters along route # Maximum depth: 1097.846211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.748980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760974; longitude = -121.861677; duration = 400; initialDepth = 1056.141121; finalDepth = 1053.748980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3598199999999 # Actual altitude: 42.3598199999999 # Commanded vehicle depth: 1053.74898 # Seafloor depth: -1096.108800 # behavior reson { duration = 6; MB_Range = 169.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.141596 meters # Minimum depth: 1096.141121 meters looking forward 200.000000 meters along route # Maximum depth: 1099.293060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.141121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761517; longitude = -121.862562; duration = 400; initialDepth = 1057.915611; finalDepth = 1056.141121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3598199999999 # Actual altitude: 42.3598199999999 # Commanded vehicle depth: 1056.141121 # Seafloor depth: -1097.837041 # behavior reson { duration = 6; MB_Range = 169.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.141145 meters # Minimum depth: 1097.915611 meters looking forward 200.000000 meters along route # Maximum depth: 1100.988739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1057.915611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762061; longitude = -121.863446; duration = 400; initialDepth = 1059.294540; finalDepth = 1057.915611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6959199999999 # Actual altitude: 41.6959199999999 # Commanded vehicle depth: 1057.915611 # Seafloor depth: -1099.315254 # behavior reson { duration = 6; MB_Range = 166.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 166.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.140693 meters # Minimum depth: 1099.294540 meters looking forward 200.000000 meters along route # Maximum depth: 1103.462444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.294540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762604; longitude = -121.864331; duration = 400; initialDepth = 1060.992561; finalDepth = 1059.294540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.699292 # Actual altitude: 41.699292 # Commanded vehicle depth: 1059.29454 # Seafloor depth: -1100.993832 # behavior reson { duration = 6; MB_Range = 166.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 166.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.140242 meters # Minimum depth: 1100.992561 meters looking forward 200.000000 meters along route # Maximum depth: 1106.008672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.992561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763147; longitude = -121.865215; duration = 400; initialDepth = 1063.541124; finalDepth = 1060.992561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4952020000001 # Actual altitude: 42.4952020000001 # Commanded vehicle depth: 1060.992561 # Seafloor depth: -1103.487763 # behavior reson { duration = 6; MB_Range = 169.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 169.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.139791 meters # Minimum depth: 1103.541124 meters looking forward 200.000000 meters along route # Maximum depth: 1107.191239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.541124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763690; longitude = -121.866100; duration = 400; initialDepth = 1066.050491; finalDepth = 1063.541124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.501129 # Actual altitude: 42.501129 # Commanded vehicle depth: 1063.541124 # Seafloor depth: -1106.042253 # behavior reson { duration = 6; MB_Range = 170.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 170.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.139338 meters # Minimum depth: 1106.050491 meters looking forward 200.000000 meters along route # Maximum depth: 1109.106184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.050491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764234; longitude = -121.866985; duration = 400; initialDepth = 1067.239786; finalDepth = 1066.050491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.501129 # Actual altitude: 42.501129 # Commanded vehicle depth: 1066.050491 # Seafloor depth: -1107.156252 # behavior reson { duration = 6; MB_Range = 170.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 170.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.138888 meters # Minimum depth: 1107.239786 meters looking forward 200.000000 meters along route # Maximum depth: 1111.347170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.239786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764777; longitude = -121.867869; duration = 400; initialDepth = 1069.177764; finalDepth = 1067.239786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8485589999998 # Actual altitude: 41.8485589999998 # Commanded vehicle depth: 1067.239786 # Seafloor depth: -1109.088345 # behavior reson { duration = 6; MB_Range = 167.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 167.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.138436 meters # Minimum depth: 1109.177764 meters looking forward 200.000000 meters along route # Maximum depth: 1113.538355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.177764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765320; longitude = -121.868754; duration = 400; initialDepth = 1071.462407; finalDepth = 1069.177764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.228382 # Actual altitude: 42.228382 # Commanded vehicle depth: 1069.177764 # Seafloor depth: -1111.406146 # behavior reson { duration = 6; MB_Range = 168.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 168.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.137985 meters # Minimum depth: 1111.462407 meters looking forward 200.000000 meters along route # Maximum depth: 1115.650412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.462407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765864; longitude = -121.869639; duration = 400; initialDepth = 1073.650051; finalDepth = 1071.462407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.228382 # Actual altitude: 42.228382 # Commanded vehicle depth: 1071.462407 # Seafloor depth: -1113.548747 # behavior reson { duration = 6; MB_Range = 168.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 168.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.137533 meters # Minimum depth: 1113.650051 meters looking forward 200.000000 meters along route # Maximum depth: 1117.971653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1073.650051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766407; longitude = -121.870523; duration = 400; initialDepth = 1075.715869; finalDepth = 1073.650051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0863400000001 # Actual altitude: 42.0863400000001 # Commanded vehicle depth: 1073.650051 # Seafloor depth: -1115.703387 # behavior reson { duration = 6; MB_Range = 168.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.137082 meters # Minimum depth: 1115.715869 meters looking forward 200.000000 meters along route # Maximum depth: 1120.230524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1075.715869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766950; longitude = -121.871408; duration = 400; initialDepth = 1078.100978; finalDepth = 1075.715869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3085639999999 # Actual altitude: 42.3085639999999 # Commanded vehicle depth: 1075.715869 # Seafloor depth: -1118.024433 # behavior reson { duration = 6; MB_Range = 169.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.136631 meters # Minimum depth: 1118.100978 meters looking forward 200.000000 meters along route # Maximum depth: 1121.548150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.100978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767494; longitude = -121.872292; duration = 400; initialDepth = 1080.270799; finalDepth = 1078.100978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3085639999999 # Actual altitude: 42.3085639999999 # Commanded vehicle depth: 1078.100978 # Seafloor depth: -1120.298676 # behavior reson { duration = 6; MB_Range = 169.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.136179 meters # Minimum depth: 1120.270799 meters looking forward 200.000000 meters along route # Maximum depth: 1123.020512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1080.270799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768037; longitude = -121.873177; duration = 400; initialDepth = 1081.532479; finalDepth = 1080.270799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1976979999999 # Actual altitude: 42.1976979999999 # Commanded vehicle depth: 1080.270799 # Seafloor depth: -1121.533939 # behavior reson { duration = 6; MB_Range = 168.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.135728 meters # Minimum depth: 1121.532479 meters looking forward 200.000000 meters along route # Maximum depth: 1124.930885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.532479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768580; longitude = -121.874062; duration = 400; initialDepth = 1083.046136; finalDepth = 1081.532479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.488789 # Actual altitude: 41.488789 # Commanded vehicle depth: 1081.532479 # Seafloor depth: -1123.021268 # behavior reson { duration = 6; MB_Range = 165.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.135277 meters # Minimum depth: 1123.046136 meters looking forward 200.000000 meters along route # Maximum depth: 1127.729928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.046136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769123; longitude = -121.874946; duration = 400; initialDepth = 1084.999151; finalDepth = 1083.046136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.915213 # Actual altitude: 41.915213 # Commanded vehicle depth: 1083.046136 # Seafloor depth: -1124.961349 # behavior reson { duration = 6; MB_Range = 167.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 167.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.134825 meters # Minimum depth: 1124.999151 meters looking forward 200.000000 meters along route # Maximum depth: 1129.698390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.999151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769667; longitude = -121.875831; duration = 400; initialDepth = 1087.776489; finalDepth = 1084.999151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7462479999999 # Actual altitude: 42.7462479999999 # Commanded vehicle depth: 1084.999151 # Seafloor depth: -1127.745399 # behavior reson { duration = 6; MB_Range = 170.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 170.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.134375 meters # Minimum depth: 1127.776489 meters looking forward 200.000000 meters along route # Maximum depth: 1131.635879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.776489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770210; longitude = -121.876715; duration = 400; initialDepth = 1089.736387; finalDepth = 1087.776489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7462479999999 # Actual altitude: 42.7462479999999 # Commanded vehicle depth: 1087.776489 # Seafloor depth: -1129.734580 # behavior reson { duration = 6; MB_Range = 170.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 170.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.133922 meters # Minimum depth: 1129.736387 meters looking forward 200.000000 meters along route # Maximum depth: 1132.732904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1089.736387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770753; longitude = -121.877600; duration = 400; initialDepth = 1091.693841; finalDepth = 1089.736387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.958091 # Actual altitude: 41.958091 # Commanded vehicle depth: 1089.736387 # Seafloor depth: -1131.645986 # behavior reson { duration = 6; MB_Range = 167.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.133472 meters # Minimum depth: 1131.693841 meters looking forward 200.000000 meters along route # Maximum depth: 1136.399944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1091.693841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771297; longitude = -121.878485; duration = 400; initialDepth = 1092.779289; finalDepth = 1091.693841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9095990000001 # Actual altitude: 41.9095990000001 # Commanded vehicle depth: 1091.693841 # Seafloor depth: -1132.766168 # behavior reson { duration = 6; MB_Range = 167.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 167.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.182280 meters # Minimum depth: 1132.779289 meters looking forward 200.000000 meters along route # Maximum depth: 1138.463148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1092.779289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771840; longitude = -121.879369; duration = 400; initialDepth = 1096.677863; finalDepth = 1092.779289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6965439999999 # Actual altitude: 43.6965439999999 # Commanded vehicle depth: 1092.779289 # Seafloor depth: -1136.475833 # behavior reson { duration = 6; MB_Range = 174.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 174.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.083309 meters # Minimum depth: 1136.677863 meters looking forward 200.000000 meters along route # Maximum depth: 1143.169129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1096.677863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772384; longitude = -121.880254; duration = 400; initialDepth = 1098.567839; finalDepth = 1096.677863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6965439999999 # Actual altitude: 43.6965439999999 # Commanded vehicle depth: 1096.677863 # Seafloor depth: -1138.463662 # behavior reson { duration = 6; MB_Range = 174.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 174.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.132118 meters # Minimum depth: 1138.567839 meters looking forward 200.000000 meters along route # Maximum depth: 1153.660345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.567839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772927; longitude = -121.881139; duration = 400; initialDepth = 1103.649160; finalDepth = 1098.567839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.9007360000001 # Actual altitude: 44.9007360000001 # Commanded vehicle depth: 1098.567839 # Seafloor depth: -1143.468575 # behavior reson { duration = 6; MB_Range = 179.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 179.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.131667 meters # Minimum depth: 1143.649160 meters looking forward 200.000000 meters along route # Maximum depth: 1153.710989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.649160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773470; longitude = -121.882023; duration = 400; initialDepth = 1111.331933; finalDepth = 1103.649160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.8724910000001 # Actual altitude: 49.8724910000001 # Commanded vehicle depth: 1103.64916 # Seafloor depth: -1153.521651 # behavior reson { duration = 6; MB_Range = 199.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.92; MB_Bottom_Detect_Filter_Max_Range = 199.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.131215 meters # Minimum depth: 1151.331933 meters looking forward 200.000000 meters along route # Maximum depth: 1153.732220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.331933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774013; longitude = -121.882908; duration = 400; initialDepth = 1110.601524; finalDepth = 1111.331933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.8724910000001 # Actual altitude: 49.8724910000001 # Commanded vehicle depth: 1111.331933 # Seafloor depth: -1153.327824 # behavior reson { duration = 6; MB_Range = 199.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.92; MB_Bottom_Detect_Filter_Max_Range = 199.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.130764 meters # Minimum depth: 1150.601524 meters looking forward 200.000000 meters along route # Maximum depth: 1153.732220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.601524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774556; longitude = -121.883792; duration = 400; initialDepth = 1110.601524; finalDepth = 1110.601524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0681630000001 # Actual altitude: 42.0681630000001 # Commanded vehicle depth: 1110.601524 # Seafloor depth: -1152.669687 # behavior reson { duration = 6; MB_Range = 168.27; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.130313 meters # Minimum depth: 1150.601524 meters looking forward 200.000000 meters along route # Maximum depth: 1152.841891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.601524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775100; longitude = -121.884677; duration = 400; initialDepth = 1111.638296; finalDepth = 1110.601524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.19336 # Actual altitude: 42.19336 # Commanded vehicle depth: 1110.601524 # Seafloor depth: -1152.794884 # behavior reson { duration = 6; MB_Range = 168.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.129862 meters # Minimum depth: 1151.638296 meters looking forward 200.000000 meters along route # Maximum depth: 1155.851555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.638296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775643; longitude = -121.885562; duration = 400; initialDepth = 1111.846508; finalDepth = 1111.638296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.19336 # Actual altitude: 42.19336 # Commanded vehicle depth: 1111.638296 # Seafloor depth: -1151.791596 # behavior reson { duration = 6; MB_Range = 168.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.129411 meters # Minimum depth: 1151.846508 meters looking forward 200.000000 meters along route # Maximum depth: 1157.697577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.846508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776186; longitude = -121.886446; duration = 400; initialDepth = 1114.993866; finalDepth = 1111.846508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6028779999999 # Actual altitude: 43.6028779999999 # Commanded vehicle depth: 1111.846508 # Seafloor depth: -1155.449386 # behavior reson { duration = 6; MB_Range = 174.41; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 174.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.128960 meters # Minimum depth: 1154.993866 meters looking forward 200.000000 meters along route # Maximum depth: 1160.243234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.993866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776730; longitude = -121.887331; duration = 400; initialDepth = 1117.984544; finalDepth = 1114.993866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6028779999999 # Actual altitude: 43.6028779999999 # Commanded vehicle depth: 1114.993866 # Seafloor depth: -1157.856935 # behavior reson { duration = 6; MB_Range = 174.41; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 174.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.128508 meters # Minimum depth: 1157.984544 meters looking forward 200.000000 meters along route # Maximum depth: 1163.931836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.984544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777273; longitude = -121.888215; duration = 400; initialDepth = 1120.303879; finalDepth = 1117.984544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.863069 # Actual altitude: 42.863069 # Commanded vehicle depth: 1117.984544 # Seafloor depth: -1160.216412 # behavior reson { duration = 6; MB_Range = 171.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 171.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.128057 meters # Minimum depth: 1160.303879 meters looking forward 200.000000 meters along route # Maximum depth: 1165.977429 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.303879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777816; longitude = -121.889100; duration = 400; initialDepth = 1123.027180; finalDepth = 1120.303879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0102429999999 # Actual altitude: 43.0102429999999 # Commanded vehicle depth: 1120.303879 # Seafloor depth: -1163.314122 # behavior reson { duration = 6; MB_Range = 172.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.127606 meters # Minimum depth: 1163.027180 meters looking forward 200.000000 meters along route # Maximum depth: 1168.402033 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1123.027180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778360; longitude = -121.889985; duration = 400; initialDepth = 1125.676913; finalDepth = 1123.027180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0102429999999 # Actual altitude: 43.0102429999999 # Commanded vehicle depth: 1123.02718 # Seafloor depth: -1165.768838 # behavior reson { duration = 6; MB_Range = 172.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.127156 meters # Minimum depth: 1165.676913 meters looking forward 200.000000 meters along route # Maximum depth: 1171.126867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1125.676913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778903; longitude = -121.890869; duration = 400; initialDepth = 1126.457032; finalDepth = 1125.676913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7416579999999 # Actual altitude: 42.7416579999999 # Commanded vehicle depth: 1125.676913 # Seafloor depth: -1168.129473 # behavior reson { duration = 6; MB_Range = 170.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 170.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.448759 meters # Minimum depth: 1166.457032 meters looking forward 200.000000 meters along route # Maximum depth: 1172.422367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1126.457032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779446; longitude = -121.891754; duration = 401; initialDepth = 1115.497344; finalDepth = 1126.457032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.747887 # Actual altitude: 44.747887 # Commanded vehicle depth: 1126.457032 # Seafloor depth: -1171.204919 # behavior reson { duration = 6; MB_Range = 178.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 178.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 192 # Segment length 100.583702 meters # Minimum depth: 1155.497344 meters looking forward 200.000000 meters along route # Maximum depth: 1172.422367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.497344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779991; longitude = -121.892641; duration = 402; initialDepth = 1111.345168; finalDepth = 1115.497344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8952299999999 # Actual altitude: 50.8952299999999 # Commanded vehicle depth: 1115.497344 # Seafloor depth: -1166.392574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 191 # Segment length 141.524889 meters # Minimum depth: 1151.345168 meters looking forward 200.000000 meters along route # Maximum depth: 1159.804405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.345168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780537; longitude = -121.893530; duration = 566; # abortOnTimeout = True; initialDepth = 1111.345168; finalDepth = 1111.345168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8952299999999 # Actual altitude: 50.8952299999999 # Commanded vehicle depth: 1111.345168 # Seafloor depth: -1155.395172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 190 # Segment length 103.439327 meters # Minimum depth: 1151.345168 meters looking forward 200.000000 meters along route # Maximum depth: 1155.503939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.345168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779497; longitude = -121.894437; duration = 413; # abortOnTimeout = True; initialDepth = 1111.730767; finalDepth = 1111.345168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0500039999999 # Actual altitude: 44.0500039999999 # Commanded vehicle depth: 1111.345168 # Seafloor depth: -1151.368652 # behavior reson { duration = 6; MB_Range = 176.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 176.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 190 # Segment length 100.126496 meters # Minimum depth: 1151.730767 meters looking forward 200.000000 meters along route # Maximum depth: 1158.985435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.730767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778936; longitude = -121.893523; duration = 400; initialDepth = 1115.549579; finalDepth = 1111.730767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.803795 # Actual altitude: 43.803795 # Commanded vehicle depth: 1111.730767 # Seafloor depth: -1155.534562 # behavior reson { duration = 6; MB_Range = 175.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 175.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.126948 meters # Minimum depth: 1155.549579 meters looking forward 200.000000 meters along route # Maximum depth: 1161.402204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.549579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778392; longitude = -121.892638; duration = 400; initialDepth = 1119.148987; finalDepth = 1115.549579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.803795 # Actual altitude: 43.803795 # Commanded vehicle depth: 1115.549579 # Seafloor depth: -1159.053186 # behavior reson { duration = 6; MB_Range = 175.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 175.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.127399 meters # Minimum depth: 1159.148987 meters looking forward 200.000000 meters along route # Maximum depth: 1161.813537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.148987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777849; longitude = -121.891754; duration = 400; initialDepth = 1119.144617; finalDepth = 1119.148987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5036070000001 # Actual altitude: 43.5036070000001 # Commanded vehicle depth: 1119.148987 # Seafloor depth: -1161.505692 # behavior reson { duration = 6; MB_Range = 174.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 174.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.168767 meters # Minimum depth: 1159.144617 meters looking forward 200.000000 meters along route # Maximum depth: 1161.813537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.144617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777306; longitude = -121.890869; duration = 400; initialDepth = 1118.385844; finalDepth = 1119.144617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3567049999999 # Actual altitude: 42.3567049999999 # Commanded vehicle depth: 1119.144617 # Seafloor depth: -1161.126549 # behavior reson { duration = 6; MB_Range = 169.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 169.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.087385 meters # Minimum depth: 1158.385844 meters looking forward 200.000000 meters along route # Maximum depth: 1161.041829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1118.385844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776762; longitude = -121.889984; duration = 400; initialDepth = 1117.082272; finalDepth = 1118.385844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9819320000001 # Actual altitude: 41.9819320000001 # Commanded vehicle depth: 1118.385844 # Seafloor depth: -1159.143866 # behavior reson { duration = 6; MB_Range = 167.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 167.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.128752 meters # Minimum depth: 1157.082272 meters looking forward 200.000000 meters along route # Maximum depth: 1159.054392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.082272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776219; longitude = -121.889100; duration = 400; initialDepth = 1117.031239; finalDepth = 1117.082272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7123859999999 # Actual altitude: 41.7123859999999 # Commanded vehicle depth: 1117.082272 # Seafloor depth: -1158.794658 # behavior reson { duration = 6; MB_Range = 166.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 166.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.129204 meters # Minimum depth: 1157.031239 meters looking forward 200.000000 meters along route # Maximum depth: 1158.893757 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.031239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775676; longitude = -121.888215; duration = 400; initialDepth = 1114.598051; finalDepth = 1117.031239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7123859999999 # Actual altitude: 41.7123859999999 # Commanded vehicle depth: 1117.031239 # Seafloor depth: -1157.088594 # behavior reson { duration = 6; MB_Range = 166.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 166.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.129654 meters # Minimum depth: 1154.598051 meters looking forward 200.000000 meters along route # Maximum depth: 1158.571788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.598051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775133; longitude = -121.887331; duration = 400; initialDepth = 1108.897189; finalDepth = 1114.598051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.4249119999999 # Actual altitude: 43.4249119999999 # Commanded vehicle depth: 1114.598051 # Seafloor depth: -1158.022963 # behavior reson { duration = 6; MB_Range = 173.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 173.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.130106 meters # Minimum depth: 1148.897189 meters looking forward 200.000000 meters along route # Maximum depth: 1157.970947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1108.897189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774589; longitude = -121.886446; duration = 400; initialDepth = 1103.564982; finalDepth = 1108.897189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.6671899999999 # Actual altitude: 45.6671899999999 # Commanded vehicle depth: 1108.897189 # Seafloor depth: -1154.564379 # behavior reson { duration = 6; MB_Range = 182.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 182.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.130557 meters # Minimum depth: 1143.564982 meters looking forward 200.000000 meters along route # Maximum depth: 1154.523043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.564982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774046; longitude = -121.885562; duration = 400; initialDepth = 1100.889695; finalDepth = 1103.564982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.6671899999999 # Actual altitude: 45.6671899999999 # Commanded vehicle depth: 1103.564982 # Seafloor depth: -1148.686522 # behavior reson { duration = 6; MB_Range = 182.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 182.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.131008 meters # Minimum depth: 1140.889695 meters looking forward 200.000000 meters along route # Maximum depth: 1148.640785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1100.889695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773503; longitude = -121.884677; duration = 400; initialDepth = 1099.929968; finalDepth = 1100.889695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.1215399999999 # Actual altitude: 45.1215399999999 # Commanded vehicle depth: 1100.889695 # Seafloor depth: -1143.482527 # behavior reson { duration = 6; MB_Range = 180.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 180.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.131459 meters # Minimum depth: 1139.929968 meters looking forward 200.000000 meters along route # Maximum depth: 1143.372588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.929968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772960; longitude = -121.883792; duration = 400; initialDepth = 1097.725799; finalDepth = 1099.929968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5928319999998 # Actual altitude: 42.5928319999998 # Commanded vehicle depth: 1099.929968 # Seafloor depth: -1140.893625 # behavior reson { duration = 6; MB_Range = 170.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 170.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.131910 meters # Minimum depth: 1137.725799 meters looking forward 200.000000 meters along route # Maximum depth: 1140.894053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.725799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772416; longitude = -121.882908; duration = 400; initialDepth = 1095.403786; finalDepth = 1097.725799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1524359999999 # Actual altitude: 42.1524359999999 # Commanded vehicle depth: 1097.725799 # Seafloor depth: -1139.878235 # behavior reson { duration = 6; MB_Range = 168.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.132362 meters # Minimum depth: 1135.403786 meters looking forward 200.000000 meters along route # Maximum depth: 1139.818129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.403786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771873; longitude = -121.882023; duration = 400; initialDepth = 1094.142370; finalDepth = 1095.403786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.310123 # Actual altitude: 42.310123 # Commanded vehicle depth: 1095.403786 # Seafloor depth: -1137.713909 # behavior reson { duration = 6; MB_Range = 169.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.132813 meters # Minimum depth: 1134.142370 meters looking forward 200.000000 meters along route # Maximum depth: 1137.656418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.142370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771330; longitude = -121.881139; duration = 400; initialDepth = 1093.682810; finalDepth = 1094.142370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.310123 # Actual altitude: 42.310123 # Commanded vehicle depth: 1094.14237 # Seafloor depth: -1135.396033 # behavior reson { duration = 6; MB_Range = 169.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.133264 meters # Minimum depth: 1133.682810 meters looking forward 200.000000 meters along route # Maximum depth: 1135.395103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.682810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770786; longitude = -121.880254; duration = 400; initialDepth = 1093.246647; finalDepth = 1093.682810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.253663 # Actual altitude: 41.253663 # Commanded vehicle depth: 1093.68281 # Seafloor depth: -1134.122730 # behavior reson { duration = 6; MB_Range = 165.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 165.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.133715 meters # Minimum depth: 1133.246647 meters looking forward 200.000000 meters along route # Maximum depth: 1134.255393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.246647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770243; longitude = -121.879369; duration = 400; initialDepth = 1089.952501; finalDepth = 1093.246647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.008746 # Actual altitude: 41.008746 # Commanded vehicle depth: 1093.246647 # Seafloor depth: -1134.255393 # behavior reson { duration = 6; MB_Range = 164.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 164.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.134166 meters # Minimum depth: 1129.952501 meters looking forward 200.000000 meters along route # Maximum depth: 1134.227299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1089.952501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769700; longitude = -121.878485; duration = 400; initialDepth = 1086.878616; finalDepth = 1089.952501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2846059999999 # Actual altitude: 43.2846059999999 # Commanded vehicle depth: 1089.952501 # Seafloor depth: -1133.237107 # behavior reson { duration = 6; MB_Range = 173.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 173.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.134618 meters # Minimum depth: 1126.878616 meters looking forward 200.000000 meters along route # Maximum depth: 1133.237806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1086.878616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769157; longitude = -121.877600; duration = 400; initialDepth = 1084.285555; finalDepth = 1086.878616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2846059999999 # Actual altitude: 43.2846059999999 # Commanded vehicle depth: 1086.878616 # Seafloor depth: -1129.871553 # behavior reson { duration = 6; MB_Range = 173.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 173.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.135069 meters # Minimum depth: 1124.285555 meters looking forward 200.000000 meters along route # Maximum depth: 1129.846640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.285555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768613; longitude = -121.876715; duration = 400; initialDepth = 1083.221357; finalDepth = 1084.285555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.992937 # Actual altitude: 42.992937 # Commanded vehicle depth: 1084.285555 # Seafloor depth: -1126.796816 # behavior reson { duration = 6; MB_Range = 171.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 171.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.135520 meters # Minimum depth: 1123.221357 meters looking forward 200.000000 meters along route # Maximum depth: 1126.766628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.221357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768070; longitude = -121.875831; duration = 400; initialDepth = 1083.143012; finalDepth = 1083.221357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5112610000001 # Actual altitude: 42.5112610000001 # Commanded vehicle depth: 1083.221357 # Seafloor depth: -1124.287184 # behavior reson { duration = 6; MB_Range = 170.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.135972 meters # Minimum depth: 1123.143012 meters looking forward 200.000000 meters along route # Maximum depth: 1124.232352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.143012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767527; longitude = -121.874946; duration = 400; initialDepth = 1083.143012; finalDepth = 1083.143012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.0658270000001 # Actual altitude: 41.0658270000001 # Commanded vehicle depth: 1083.143012 # Seafloor depth: -1123.290172 # behavior reson { duration = 6; MB_Range = 164.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 164.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.136423 meters # Minimum depth: 1123.143012 meters looking forward 200.000000 meters along route # Maximum depth: 1123.925735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.143012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766983; longitude = -121.874062; duration = 400; initialDepth = 1082.897013; finalDepth = 1083.143012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.5827850000001 # Actual altitude: 40.5827850000001 # Commanded vehicle depth: 1083.143012 # Seafloor depth: -1123.725797 # behavior reson { duration = 6; MB_Range = 162.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 162.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.136874 meters # Minimum depth: 1122.897013 meters looking forward 200.000000 meters along route # Maximum depth: 1124.977944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1082.897013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766440; longitude = -121.873177; duration = 400; initialDepth = 1078.363296; finalDepth = 1082.897013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.804987 # Actual altitude: 40.804987 # Commanded vehicle depth: 1082.897013 # Seafloor depth: -1123.702000 # behavior reson { duration = 6; MB_Range = 163.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 163.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.137326 meters # Minimum depth: 1118.363296 meters looking forward 200.000000 meters along route # Maximum depth: 1124.977944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.363296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765897; longitude = -121.872292; duration = 400; initialDepth = 1078.012334; finalDepth = 1078.363296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.5984559999999 # Actual altitude: 44.5984559999999 # Commanded vehicle depth: 1078.363296 # Seafloor depth: -1122.961752 # behavior reson { duration = 6; MB_Range = 178.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 178.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.137777 meters # Minimum depth: 1118.012334 meters looking forward 200.000000 meters along route # Maximum depth: 1122.619003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.012334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765354; longitude = -121.871408; duration = 400; initialDepth = 1076.023246; finalDepth = 1078.012334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.5984559999999 # Actual altitude: 44.5984559999999 # Commanded vehicle depth: 1078.012334 # Seafloor depth: -1118.341385 # behavior reson { duration = 6; MB_Range = 178.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 178.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.138228 meters # Minimum depth: 1116.023246 meters looking forward 200.000000 meters along route # Maximum depth: 1119.624959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.023246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764810; longitude = -121.870523; duration = 400; initialDepth = 1072.356735; finalDepth = 1076.023246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5868620000001 # Actual altitude: 43.5868620000001 # Commanded vehicle depth: 1076.023246 # Seafloor depth: -1119.610108 # behavior reson { duration = 6; MB_Range = 174.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 174.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.138679 meters # Minimum depth: 1112.356735 meters looking forward 200.000000 meters along route # Maximum depth: 1119.624959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.356735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764267; longitude = -121.869639; duration = 400; initialDepth = 1069.048231; finalDepth = 1072.356735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6661729999998 # Actual altitude: 43.6661729999998 # Commanded vehicle depth: 1072.356735 # Seafloor depth: -1116.022908 # behavior reson { duration = 6; MB_Range = 174.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 174.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.139131 meters # Minimum depth: 1109.048231 meters looking forward 200.000000 meters along route # Maximum depth: 1115.961579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.048231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763724; longitude = -121.868754; duration = 400; initialDepth = 1066.217060; finalDepth = 1069.048231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6661729999998 # Actual altitude: 43.6661729999998 # Commanded vehicle depth: 1069.048231 # Seafloor depth: -1112.282923 # behavior reson { duration = 6; MB_Range = 174.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 174.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.139583 meters # Minimum depth: 1106.217060 meters looking forward 200.000000 meters along route # Maximum depth: 1112.193504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.217060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763180; longitude = -121.867869; duration = 400; initialDepth = 1065.286802; finalDepth = 1066.217060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.234692 # Actual altitude: 43.234692 # Commanded vehicle depth: 1066.21706 # Seafloor depth: -1109.033859 # behavior reson { duration = 6; MB_Range = 172.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 172.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.140034 meters # Minimum depth: 1105.286802 meters looking forward 200.000000 meters along route # Maximum depth: 1108.919366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1065.286802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762637; longitude = -121.866985; duration = 400; initialDepth = 1064.236161; finalDepth = 1065.286802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.8167989999999 # Actual altitude: 42.8167989999999 # Commanded vehicle depth: 1065.286802 # Seafloor depth: -1106.179037 # behavior reson { duration = 6; MB_Range = 171.27; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 171.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.140485 meters # Minimum depth: 1104.236161 meters looking forward 200.000000 meters along route # Maximum depth: 1108.438731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.236161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762094; longitude = -121.866100; duration = 400; initialDepth = 1060.178313; finalDepth = 1064.236161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.026797 # Actual altitude: 42.026797 # Commanded vehicle depth: 1064.236161 # Seafloor depth: -1106.262958 # behavior reson { duration = 6; MB_Range = 168.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 168.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.140936 meters # Minimum depth: 1100.178313 meters looking forward 200.000000 meters along route # Maximum depth: 1108.438731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.178313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761551; longitude = -121.865215; duration = 400; initialDepth = 1058.064183; finalDepth = 1060.178313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9044550000001 # Actual altitude: 43.9044550000001 # Commanded vehicle depth: 1060.178313 # Seafloor depth: -1104.082768 # behavior reson { duration = 6; MB_Range = 175.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 175.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.269438 meters # Minimum depth: 1098.064183 meters looking forward 200.000000 meters along route # Maximum depth: 1104.030765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.064183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761007; longitude = -121.864331; duration = 401; initialDepth = 1056.254289; finalDepth = 1058.064183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.9044550000001 # Actual altitude: 43.9044550000001 # Commanded vehicle depth: 1058.064183 # Seafloor depth: -1100.186135 # behavior reson { duration = 6; MB_Range = 175.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 175.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.013790 meters # Minimum depth: 1096.254289 meters looking forward 200.000000 meters along route # Maximum depth: 1100.120500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.254289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760463; longitude = -121.863445; duration = 400; initialDepth = 1054.438816; finalDepth = 1056.254289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.121952 # Actual altitude: 42.121952 # Commanded vehicle depth: 1056.254289 # Seafloor depth: -1098.061622 # behavior reson { duration = 6; MB_Range = 168.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 168.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.142291 meters # Minimum depth: 1094.438816 meters looking forward 200.000000 meters along route # Maximum depth: 1097.996242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.438816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759921; longitude = -121.862562; duration = 400; initialDepth = 1052.218683; finalDepth = 1054.438816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.807333 # Actual altitude: 41.807333 # Commanded vehicle depth: 1054.438816 # Seafloor depth: -1096.233990 # behavior reson { duration = 6; MB_Range = 167.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.142742 meters # Minimum depth: 1092.218683 meters looking forward 200.000000 meters along route # Maximum depth: 1096.227880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.218683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759377; longitude = -121.861677; duration = 400; initialDepth = 1049.268329; finalDepth = 1052.218683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.2168939999999 # Actual altitude: 42.2168939999999 # Commanded vehicle depth: 1052.218683 # Seafloor depth: -1094.435577 # behavior reson { duration = 6; MB_Range = 168.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 168.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.143194 meters # Minimum depth: 1089.268329 meters looking forward 200.000000 meters along route # Maximum depth: 1094.377087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.268329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758834; longitude = -121.860792; duration = 400; initialDepth = 1047.036785; finalDepth = 1049.268329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.907035 # Actual altitude: 42.907035 # Commanded vehicle depth: 1049.268329 # Seafloor depth: -1092.175364 # behavior reson { duration = 6; MB_Range = 171.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 171.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.143645 meters # Minimum depth: 1087.036785 meters looking forward 200.000000 meters along route # Maximum depth: 1092.128172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.036785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758291; longitude = -121.859908; duration = 400; initialDepth = 1046.371816; finalDepth = 1047.036785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.907035 # Actual altitude: 42.907035 # Commanded vehicle depth: 1047.036785 # Seafloor depth: -1089.256787 # behavior reson { duration = 6; MB_Range = 171.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 171.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.144097 meters # Minimum depth: 1086.371816 meters looking forward 200.000000 meters along route # Maximum depth: 1089.205575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.371816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757748; longitude = -121.859023; duration = 400; initialDepth = 1044.820347; finalDepth = 1046.371816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.220002 # Actual altitude: 42.220002 # Commanded vehicle depth: 1046.371816 # Seafloor depth: -1087.024803 # behavior reson { duration = 6; MB_Range = 168.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 168.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.144549 meters # Minimum depth: 1084.820347 meters looking forward 200.000000 meters along route # Maximum depth: 1087.009594 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.820347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757204; longitude = -121.858139; duration = 400; initialDepth = 1041.907916; finalDepth = 1044.820347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.604077 # Actual altitude: 41.604077 # Commanded vehicle depth: 1044.820347 # Seafloor depth: -1086.424424 # behavior reson { duration = 6; MB_Range = 166.42; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.145000 meters # Minimum depth: 1081.907916 meters looking forward 200.000000 meters along route # Maximum depth: 1086.529578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.907916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756661; longitude = -121.857254; duration = 400; initialDepth = 1039.740792; finalDepth = 1041.907916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.846033 # Actual altitude: 42.846033 # Commanded vehicle depth: 1041.907916 # Seafloor depth: -1084.753949 # behavior reson { duration = 6; MB_Range = 171.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 171.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.145451 meters # Minimum depth: 1079.740792 meters looking forward 200.000000 meters along route # Maximum depth: 1084.653013 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.740792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756118; longitude = -121.856369; duration = 400; initialDepth = 1039.216779; finalDepth = 1039.740792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.846033 # Actual altitude: 42.846033 # Commanded vehicle depth: 1039.740792 # Seafloor depth: -1081.783529 # behavior reson { duration = 6; MB_Range = 171.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 171.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.145903 meters # Minimum depth: 1079.216779 meters looking forward 200.000000 meters along route # Maximum depth: 1081.760484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.216779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755574; longitude = -121.855485; duration = 400; initialDepth = 1038.130965; finalDepth = 1039.216779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.042737 # Actual altitude: 42.042737 # Commanded vehicle depth: 1039.216779 # Seafloor depth: -1079.763928 # behavior reson { duration = 6; MB_Range = 168.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.146355 meters # Minimum depth: 1078.130965 meters looking forward 200.000000 meters along route # Maximum depth: 1081.167330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.130965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755031; longitude = -121.854600; duration = 400; initialDepth = 1035.628330; finalDepth = 1038.130965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.416729 # Actual altitude: 42.416729 # Commanded vehicle depth: 1038.130965 # Seafloor depth: -1080.547694 # behavior reson { duration = 6; MB_Range = 169.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 169.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.146806 meters # Minimum depth: 1075.628330 meters looking forward 200.000000 meters along route # Maximum depth: 1081.167330 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.628330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754488; longitude = -121.853715; duration = 400; initialDepth = 1033.464040; finalDepth = 1035.628330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4935740000001 # Actual altitude: 42.4935740000001 # Commanded vehicle depth: 1035.62833 # Seafloor depth: -1078.121904 # behavior reson { duration = 6; MB_Range = 169.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 169.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.147258 meters # Minimum depth: 1073.464040 meters looking forward 200.000000 meters along route # Maximum depth: 1078.017836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.464040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753945; longitude = -121.852831; duration = 400; initialDepth = 1033.261499; finalDepth = 1033.464040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4935740000001 # Actual altitude: 42.4935740000001 # Commanded vehicle depth: 1033.46404 # Seafloor depth: -1075.526024 # behavior reson { duration = 6; MB_Range = 169.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 169.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.147709 meters # Minimum depth: 1073.261499 meters looking forward 200.000000 meters along route # Maximum depth: 1075.633058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.261499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753401; longitude = -121.851946; duration = 400; initialDepth = 1033.261499; finalDepth = 1033.261499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0619839999999 # Actual altitude: 42.0619839999999 # Commanded vehicle depth: 1033.261499 # Seafloor depth: -1073.454617 # behavior reson { duration = 6; MB_Range = 168.25; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.148161 meters # Minimum depth: 1073.261499 meters looking forward 200.000000 meters along route # Maximum depth: 1075.666854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.261499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752858; longitude = -121.851062; duration = 400; initialDepth = 1030.069468; finalDepth = 1033.261499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.722045 # Actual altitude: 41.722045 # Commanded vehicle depth: 1033.261499 # Seafloor depth: -1074.983544 # behavior reson { duration = 6; MB_Range = 166.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 166.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.148613 meters # Minimum depth: 1070.069468 meters looking forward 200.000000 meters along route # Maximum depth: 1075.666854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.069468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752315; longitude = -121.850177; duration = 400; initialDepth = 1027.524215; finalDepth = 1030.069468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0553200000002 # Actual altitude: 44.0553200000002 # Commanded vehicle depth: 1030.069468 # Seafloor depth: -1074.124788 # behavior reson { duration = 6; MB_Range = 176.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 176.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.149064 meters # Minimum depth: 1067.524215 meters looking forward 200.000000 meters along route # Maximum depth: 1073.982932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.524215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751772; longitude = -121.849292; duration = 400; initialDepth = 1025.652806; finalDepth = 1027.524215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0553200000002 # Actual altitude: 44.0553200000002 # Commanded vehicle depth: 1027.524215 # Seafloor depth: -1070.065704 # behavior reson { duration = 6; MB_Range = 176.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 176.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.149516 meters # Minimum depth: 1065.652806 meters looking forward 200.000000 meters along route # Maximum depth: 1070.021825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.652806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751228; longitude = -121.848408; duration = 400; initialDepth = 1023.744979; finalDepth = 1025.652806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5414890000002 # Actual altitude: 42.5414890000002 # Commanded vehicle depth: 1025.652806 # Seafloor depth: -1067.435393 # behavior reson { duration = 6; MB_Range = 170.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 170.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.149968 meters # Minimum depth: 1063.744979 meters looking forward 200.000000 meters along route # Maximum depth: 1067.425440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.744979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750685; longitude = -121.847523; duration = 400; initialDepth = 1021.978961; finalDepth = 1023.744979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.871574 # Actual altitude: 41.871574 # Commanded vehicle depth: 1023.744979 # Seafloor depth: -1065.616553 # behavior reson { duration = 6; MB_Range = 167.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 167.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.150419 meters # Minimum depth: 1061.978961 meters looking forward 200.000000 meters along route # Maximum depth: 1065.673504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1021.978961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750142; longitude = -121.846639; duration = 400; initialDepth = 1021.378500; finalDepth = 1021.978961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.871574 # Actual altitude: 41.871574 # Commanded vehicle depth: 1021.978961 # Seafloor depth: -1063.656875 # behavior reson { duration = 6; MB_Range = 167.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 167.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.150871 meters # Minimum depth: 1061.378500 meters looking forward 200.000000 meters along route # Maximum depth: 1063.636255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1021.378500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749598; longitude = -121.845754; duration = 400; initialDepth = 1021.378500; finalDepth = 1021.378500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6779139999999 # Actual altitude: 41.6779139999999 # Commanded vehicle depth: 1021.3785 # Seafloor depth: -1062.002609 # behavior reson { duration = 6; MB_Range = 166.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 166.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.151323 meters # Minimum depth: 1061.378500 meters looking forward 200.000000 meters along route # Maximum depth: 1066.020830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1021.378500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749055; longitude = -121.844869; duration = 400; initialDepth = 1018.824536; finalDepth = 1021.378500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6241089999999 # Actual altitude: 40.6241089999999 # Commanded vehicle depth: 1021.3785 # Seafloor depth: -1061.390839 # behavior reson { duration = 6; MB_Range = 162.50; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 162.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.210746 meters # Minimum depth: 1058.824536 meters looking forward 200.000000 meters along route # Maximum depth: 1066.020830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1018.824536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748512; longitude = -121.843985; duration = 400; initialDepth = 1016.762726; finalDepth = 1018.824536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.1917569999998 # Actual altitude: 47.1917569999998 # Commanded vehicle depth: 1018.824536 # Seafloor depth: -1066.016293 # behavior reson { duration = 6; MB_Range = 188.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.32; MB_Bottom_Detect_Filter_Max_Range = 188.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.093254 meters # Minimum depth: 1056.762726 meters looking forward 200.000000 meters along route # Maximum depth: 1065.962369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.762726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747968; longitude = -121.843100; duration = 400; initialDepth = 1015.208893; finalDepth = 1016.762726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.1917569999998 # Actual altitude: 47.1917569999998 # Commanded vehicle depth: 1016.762726 # Seafloor depth: -1058.821218 # behavior reson { duration = 6; MB_Range = 188.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.32; MB_Bottom_Detect_Filter_Max_Range = 188.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.152678 meters # Minimum depth: 1055.208893 meters looking forward 200.000000 meters along route # Maximum depth: 1058.696032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.208893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747425; longitude = -121.842216; duration = 400; initialDepth = 1013.608442; finalDepth = 1015.208893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0584920000001 # Actual altitude: 42.0584920000001 # Commanded vehicle depth: 1015.208893 # Seafloor depth: -1056.787498 # behavior reson { duration = 6; MB_Range = 168.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.153129 meters # Minimum depth: 1053.608442 meters looking forward 200.000000 meters along route # Maximum depth: 1056.838874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.608442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746882; longitude = -121.841331; duration = 400; initialDepth = 1012.920826; finalDepth = 1013.608442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5941849999999 # Actual altitude: 41.5941849999999 # Commanded vehicle depth: 1013.608442 # Seafloor depth: -1055.202627 # behavior reson { duration = 6; MB_Range = 166.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.153582 meters # Minimum depth: 1052.920826 meters looking forward 200.000000 meters along route # Maximum depth: 1055.152506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.920826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746339; longitude = -121.840446; duration = 400; initialDepth = 1012.920826; finalDepth = 1012.920826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5941849999999 # Actual altitude: 41.5941849999999 # Commanded vehicle depth: 1012.920826 # Seafloor depth: -1053.623671 # behavior reson { duration = 6; MB_Range = 166.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.96; MB_Bottom_Detect_Filter_Max_Range = 166.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.154033 meters # Minimum depth: 1052.920826 meters looking forward 200.000000 meters along route # Maximum depth: 1056.144890 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.920826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745795; longitude = -121.839562; duration = 400; initialDepth = 1012.034878; finalDepth = 1012.920826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.702845 # Actual altitude: 40.702845 # Commanded vehicle depth: 1012.920826 # Seafloor depth: -1053.096175 # behavior reson { duration = 6; MB_Range = 162.81; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.154485 meters # Minimum depth: 1052.034878 meters looking forward 200.000000 meters along route # Maximum depth: 1056.229887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.034878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745252; longitude = -121.838677; duration = 400; initialDepth = 1011.220996; finalDepth = 1012.034878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.1504710000002 # Actual altitude: 44.1504710000002 # Commanded vehicle depth: 1012.034878 # Seafloor depth: -1056.185349 # behavior reson { duration = 6; MB_Range = 176.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 176.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.154936 meters # Minimum depth: 1051.220996 meters looking forward 200.000000 meters along route # Maximum depth: 1056.229887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.220996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744709; longitude = -121.837792; duration = 400; initialDepth = 1007.858246; finalDepth = 1011.220996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.1504710000002 # Actual altitude: 44.1504710000002 # Commanded vehicle depth: 1011.220996 # Seafloor depth: -1051.949679 # behavior reson { duration = 6; MB_Range = 176.60; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 176.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.155389 meters # Minimum depth: 1047.858246 meters looking forward 200.000000 meters along route # Maximum depth: 1052.474193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.858246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744166; longitude = -121.836908; duration = 400; initialDepth = 1007.340172; finalDepth = 1007.858246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2112749999999 # Actual altitude: 44.2112749999999 # Commanded vehicle depth: 1007.858246 # Seafloor depth: -1052.069521 # behavior reson { duration = 6; MB_Range = 176.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.155840 meters # Minimum depth: 1047.340172 meters looking forward 200.000000 meters along route # Maximum depth: 1052.267135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.340172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743622; longitude = -121.836023; duration = 400; initialDepth = 1007.340172; finalDepth = 1007.340172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2112749999999 # Actual altitude: 44.2112749999999 # Commanded vehicle depth: 1007.340172 # Seafloor depth: -1047.781631 # behavior reson { duration = 6; MB_Range = 176.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 176.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.156292 meters # Minimum depth: 1047.340172 meters looking forward 200.000000 meters along route # Maximum depth: 1052.336597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.340172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743079; longitude = -121.835139; duration = 400; initialDepth = 1007.485342; finalDepth = 1007.340172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.218797 # Actual altitude: 41.218797 # Commanded vehicle depth: 1007.340172 # Seafloor depth: -1048.558969 # behavior reson { duration = 6; MB_Range = 164.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 164.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.156744 meters # Minimum depth: 1047.485342 meters looking forward 200.000000 meters along route # Maximum depth: 1052.678203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.485342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742536; longitude = -121.834254; duration = 400; initialDepth = 1004.037700; finalDepth = 1007.485342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.85825 # Actual altitude: 44.85825 # Commanded vehicle depth: 1007.485342 # Seafloor depth: -1052.343592 # behavior reson { duration = 6; MB_Range = 179.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 179.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.157196 meters # Minimum depth: 1044.037700 meters looking forward 200.000000 meters along route # Maximum depth: 1052.678203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.037700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741992; longitude = -121.833369; duration = 400; initialDepth = 1001.878388; finalDepth = 1004.037700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.85825 # Actual altitude: 44.85825 # Commanded vehicle depth: 1004.0377 # Seafloor depth: -1047.435199 # behavior reson { duration = 6; MB_Range = 179.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 179.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.157647 meters # Minimum depth: 1041.878388 meters looking forward 200.000000 meters along route # Maximum depth: 1047.333859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.878388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741449; longitude = -121.832485; duration = 400; initialDepth = 1000.351287; finalDepth = 1001.878388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.3974989999999 # Actual altitude: 43.3974989999999 # Commanded vehicle depth: 1001.878388 # Seafloor depth: -1043.991900 # behavior reson { duration = 6; MB_Range = 173.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 173.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.529550 meters # Minimum depth: 1040.351287 meters looking forward 200.000000 meters along route # Maximum depth: 1043.965288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.351287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.740906; longitude = -121.831600; duration = 402; initialDepth = 998.943196; finalDepth = 1000.351287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1135119999999 # Actual altitude: 42.1135119999999 # Commanded vehicle depth: 1000.351287 # Seafloor depth: -1041.769798 # behavior reson { duration = 6; MB_Range = 168.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 168.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 190 # Segment length 100.568878 meters # Minimum depth: 1038.943196 meters looking forward 200.000000 meters along route # Maximum depth: 1041.739985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 998.943196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.740361; longitude = -121.830712; duration = 402; initialDepth = 998.895825; finalDepth = 998.943196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.473532 # Actual altitude: 41.473532 # Commanded vehicle depth: 998.943196 # Seafloor depth: -1040.416728 # behavior reson { duration = 6; MB_Range = 165.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 165.89; 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 189 # Segment length 117.914627 meters # Minimum depth: 1038.895825 meters looking forward 200.000000 meters along route # Maximum depth: 1040.266520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 998.895825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.739815; longitude = -121.829824; duration = 471; # abortOnTimeout = True; initialDepth = 999.202751; finalDepth = 998.895825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.473532 # Actual altitude: 41.473532 # Commanded vehicle depth: 998.895825 # Seafloor depth: -1038.926056 # behavior reson { duration = 6; MB_Range = 165.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.88; MB_Bottom_Detect_Filter_Max_Range = 165.89; 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 188 # Segment length 161.590206 meters # Minimum depth: 1039.202751 meters looking forward 200.000000 meters along route # Maximum depth: 1041.083826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 999.202751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.738982; longitude = -121.830634; duration = 646; # abortOnTimeout = True; initialDepth = 1000.084849; finalDepth = 999.202751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.2485730000001 # Actual altitude: 40.2485730000001 # Commanded vehicle depth: 999.202751 # Seafloor depth: -1039.451324 # behavior reson { duration = 6; MB_Range = 160.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 160.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 188 # Segment length 102.420181 meters # Minimum depth: 1040.084849 meters looking forward 200.000000 meters along route # Maximum depth: 1043.124801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.084849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.739855; longitude = -121.832065; duration = 409; initialDepth = 1001.180597; finalDepth = 1000.084849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.024271 # Actual altitude: 41.024271 # Commanded vehicle depth: 1000.084849 # Seafloor depth: -1041.109120 # behavior reson { duration = 6; MB_Range = 164.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 164.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.740341 meters # Minimum depth: 1041.180597 meters looking forward 200.000000 meters along route # Maximum depth: 1045.542700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.180597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.740408; longitude = -121.832971; duration = 406; initialDepth = 1003.193251; finalDepth = 1001.180597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.957024 # Actual altitude: 41.957024 # Commanded vehicle depth: 1001.180597 # Seafloor depth: -1043.137621 # behavior reson { duration = 6; MB_Range = 167.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.600577 meters # Minimum depth: 1043.193251 meters looking forward 200.000000 meters along route # Maximum depth: 1047.106253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.193251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.740958; longitude = -121.833872; duration = 402; initialDepth = 1005.493077; finalDepth = 1003.193251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.322727 # Actual altitude: 42.322727 # Commanded vehicle depth: 1003.193251 # Seafloor depth: -1045.515978 # behavior reson { duration = 6; MB_Range = 169.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.015197 meters # Minimum depth: 1045.493077 meters looking forward 200.000000 meters along route # Maximum depth: 1047.441811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.493077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.741501; longitude = -121.834763; duration = 400; initialDepth = 1007.022605; finalDepth = 1005.493077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.322727 # Actual altitude: 42.322727 # Commanded vehicle depth: 1005.493077 # Seafloor depth: -1047.103778 # behavior reson { duration = 6; MB_Range = 169.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.354289 meters # Minimum depth: 1047.022605 meters looking forward 200.000000 meters along route # Maximum depth: 1048.118310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.022605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742041; longitude = -121.835648; duration = 409; initialDepth = 1007.149275; finalDepth = 1007.022605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6107009999998 # Actual altitude: 41.6107009999998 # Commanded vehicle depth: 1007.022605 # Seafloor depth: -1047.191424 # behavior reson { duration = 6; MB_Range = 166.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.387426 meters # Minimum depth: 1047.149275 meters looking forward 200.000000 meters along route # Maximum depth: 1051.353680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.149275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742594; longitude = -121.836554; duration = 409; initialDepth = 1008.262417; finalDepth = 1007.149275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9682520000001 # Actual altitude: 40.9682520000001 # Commanded vehicle depth: 1007.149275 # Seafloor depth: -1048.117527 # behavior reson { duration = 6; MB_Range = 163.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 163.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.417367 meters # Minimum depth: 1048.262417 meters looking forward 200.000000 meters along route # Maximum depth: 1053.321452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.262417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743147; longitude = -121.837461; duration = 409; initialDepth = 1011.282056; finalDepth = 1008.262417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0786010000002 # Actual altitude: 43.0786010000002 # Commanded vehicle depth: 1008.262417 # Seafloor depth: -1051.341018 # behavior reson { duration = 6; MB_Range = 172.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 172.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.416894 meters # Minimum depth: 1051.282056 meters looking forward 200.000000 meters along route # Maximum depth: 1055.228911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.282056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743700; longitude = -121.838367; duration = 409; initialDepth = 1012.454671; finalDepth = 1011.282056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0786010000002 # Actual altitude: 43.0786010000002 # Commanded vehicle depth: 1011.282056 # Seafloor depth: -1053.326260 # behavior reson { duration = 6; MB_Range = 172.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 172.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.416422 meters # Minimum depth: 1052.454671 meters looking forward 200.000000 meters along route # Maximum depth: 1055.228911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.454671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744254; longitude = -121.839274; duration = 409; initialDepth = 1012.454671; finalDepth = 1012.454671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.044204 # Actual altitude: 42.044204 # Commanded vehicle depth: 1012.454671 # Seafloor depth: -1053.034835 # behavior reson { duration = 6; MB_Range = 168.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.415949 meters # Minimum depth: 1052.454671 meters looking forward 200.000000 meters along route # Maximum depth: 1053.940975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.454671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744807; longitude = -121.840181; duration = 409; initialDepth = 1012.769298; finalDepth = 1012.454671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.580164 # Actual altitude: 40.580164 # Commanded vehicle depth: 1012.454671 # Seafloor depth: -1052.812708 # behavior reson { duration = 6; MB_Range = 162.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 162.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.415476 meters # Minimum depth: 1052.769298 meters looking forward 200.000000 meters along route # Maximum depth: 1056.500394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.769298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745360; longitude = -121.841088; duration = 409; initialDepth = 1014.067277; finalDepth = 1012.769298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1729850000002 # Actual altitude: 41.1729850000002 # Commanded vehicle depth: 1012.769298 # Seafloor depth: -1053.942283 # behavior reson { duration = 6; MB_Range = 164.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.415003 meters # Minimum depth: 1054.067277 meters looking forward 200.000000 meters along route # Maximum depth: 1061.335364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1014.067277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745913; longitude = -121.841994; duration = 409; initialDepth = 1016.688884; finalDepth = 1014.067277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4387859999999 # Actual altitude: 42.4387859999999 # Commanded vehicle depth: 1014.067277 # Seafloor depth: -1056.506063 # behavior reson { duration = 6; MB_Range = 169.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.414530 meters # Minimum depth: 1056.688884 meters looking forward 200.000000 meters along route # Maximum depth: 1065.040499 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.688884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746467; longitude = -121.842901; duration = 409; initialDepth = 1020.094927; finalDepth = 1016.688884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.673411 # Actual altitude: 44.673411 # Commanded vehicle depth: 1016.688884 # Seafloor depth: -1061.362295 # behavior reson { duration = 6; MB_Range = 178.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.414058 meters # Minimum depth: 1060.094927 meters looking forward 200.000000 meters along route # Maximum depth: 1065.040499 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.094927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747020; longitude = -121.843808; duration = 409; initialDepth = 1020.094927; finalDepth = 1020.094927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.673411 # Actual altitude: 44.673411 # Commanded vehicle depth: 1020.094927 # Seafloor depth: -1064.097506 # behavior reson { duration = 6; MB_Range = 178.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 178.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.413586 meters # Minimum depth: 1060.094927 meters looking forward 200.000000 meters along route # Maximum depth: 1063.717765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.094927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747573; longitude = -121.844715; duration = 409; initialDepth = 1020.574695; finalDepth = 1020.094927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.002579 # Actual altitude: 44.002579 # Commanded vehicle depth: 1020.094927 # Seafloor depth: -1060.650178 # behavior reson { duration = 6; MB_Range = 176.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 176.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.739298 meters # Minimum depth: 1060.574695 meters looking forward 200.000000 meters along route # Maximum depth: 1061.582517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.574695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748126; longitude = -121.845621; duration = 406; initialDepth = 1020.871969; finalDepth = 1020.574695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.555251 # Actual altitude: 40.555251 # Commanded vehicle depth: 1020.574695 # Seafloor depth: -1060.963278 # behavior reson { duration = 6; MB_Range = 162.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 162.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.588591 meters # Minimum depth: 1060.871969 meters looking forward 200.000000 meters along route # Maximum depth: 1063.541735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.871969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748676; longitude = -121.846522; duration = 402; initialDepth = 1021.515207; finalDepth = 1020.871969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.63966 # Actual altitude: 40.63966 # Commanded vehicle depth: 1020.871969 # Seafloor depth: -1061.511629 # behavior reson { duration = 6; MB_Range = 162.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.014266 meters # Minimum depth: 1061.515207 meters looking forward 200.000000 meters along route # Maximum depth: 1065.758107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1021.515207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749219; longitude = -121.847413; duration = 400; initialDepth = 1023.667988; finalDepth = 1021.515207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0801180000001 # Actual altitude: 42.0801180000001 # Commanded vehicle depth: 1021.515207 # Seafloor depth: -1063.595325 # behavior reson { duration = 6; MB_Range = 168.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.347698 meters # Minimum depth: 1063.667988 meters looking forward 200.000000 meters along route # Maximum depth: 1067.295319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.667988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749760; longitude = -121.848298; duration = 409; initialDepth = 1025.819426; finalDepth = 1023.667988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0858780000001 # Actual altitude: 42.0858780000001 # Commanded vehicle depth: 1023.667988 # Seafloor depth: -1065.753866 # behavior reson { duration = 6; MB_Range = 168.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.375325 meters # Minimum depth: 1065.819426 meters looking forward 200.000000 meters along route # Maximum depth: 1068.725708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.819426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750312; longitude = -121.849204; duration = 409; initialDepth = 1027.373424; finalDepth = 1025.819426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0858780000001 # Actual altitude: 42.0858780000001 # Commanded vehicle depth: 1025.819426 # Seafloor depth: -1067.295678 # behavior reson { duration = 6; MB_Range = 168.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 168.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.410773 meters # Minimum depth: 1067.373424 meters looking forward 200.000000 meters along route # Maximum depth: 1070.602769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.373424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750865; longitude = -121.850111; duration = 409; initialDepth = 1028.835813; finalDepth = 1027.373424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4762519999999 # Actual altitude: 41.4762519999999 # Commanded vehicle depth: 1027.373424 # Seafloor depth: -1068.726429 # behavior reson { duration = 6; MB_Range = 165.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.410300 meters # Minimum depth: 1068.835813 meters looking forward 200.000000 meters along route # Maximum depth: 1072.106750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.835813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751419; longitude = -121.851017; duration = 409; initialDepth = 1030.588740; finalDepth = 1028.835813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7642740000001 # Actual altitude: 41.7642740000001 # Commanded vehicle depth: 1028.835813 # Seafloor depth: -1070.600087 # behavior reson { duration = 6; MB_Range = 167.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 167.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.409828 meters # Minimum depth: 1070.588740 meters looking forward 200.000000 meters along route # Maximum depth: 1074.007686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.588740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751972; longitude = -121.851924; duration = 409; initialDepth = 1032.172866; finalDepth = 1030.588740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7642740000001 # Actual altitude: 41.7642740000001 # Commanded vehicle depth: 1030.58874 # Seafloor depth: -1072.108545 # behavior reson { duration = 6; MB_Range = 167.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 167.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.409355 meters # Minimum depth: 1072.172866 meters looking forward 200.000000 meters along route # Maximum depth: 1075.888076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.172866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752525; longitude = -121.852831; duration = 409; initialDepth = 1034.024306; finalDepth = 1032.172866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8394479999999 # Actual altitude: 41.8394479999999 # Commanded vehicle depth: 1032.172866 # Seafloor depth: -1074.012314 # behavior reson { duration = 6; MB_Range = 167.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 167.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.408882 meters # Minimum depth: 1074.024306 meters looking forward 200.000000 meters along route # Maximum depth: 1077.526624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.024306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753078; longitude = -121.853738; duration = 409; initialDepth = 1035.889366; finalDepth = 1034.024306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.868406 # Actual altitude: 41.868406 # Commanded vehicle depth: 1034.024306 # Seafloor depth: -1075.892712 # behavior reson { duration = 6; MB_Range = 167.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 167.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.408410 meters # Minimum depth: 1075.889366 meters looking forward 200.000000 meters along route # Maximum depth: 1079.278870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.889366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753632; longitude = -121.854644; duration = 409; initialDepth = 1037.613673; finalDepth = 1035.889366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.868406 # Actual altitude: 41.868406 # Commanded vehicle depth: 1035.889366 # Seafloor depth: -1077.529649 # behavior reson { duration = 6; MB_Range = 167.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 167.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.407938 meters # Minimum depth: 1077.613673 meters looking forward 200.000000 meters along route # Maximum depth: 1080.749958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.613673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754185; longitude = -121.855551; duration = 409; initialDepth = 1039.042885; finalDepth = 1037.613673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.704549 # Actual altitude: 41.704549 # Commanded vehicle depth: 1037.613673 # Seafloor depth: -1079.318222 # behavior reson { duration = 6; MB_Range = 166.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 166.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.407465 meters # Minimum depth: 1079.042885 meters looking forward 200.000000 meters along route # Maximum depth: 1085.090867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.042885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754738; longitude = -121.856458; duration = 409; initialDepth = 1040.904167; finalDepth = 1039.042885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.729472 # Actual altitude: 41.729472 # Commanded vehicle depth: 1039.042885 # Seafloor depth: -1080.772357 # behavior reson { duration = 6; MB_Range = 166.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 166.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.406992 meters # Minimum depth: 1080.904167 meters looking forward 200.000000 meters along route # Maximum depth: 1090.758084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.904167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755291; longitude = -121.857365; duration = 409; initialDepth = 1045.593450; finalDepth = 1040.904167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2073250000001 # Actual altitude: 44.2073250000001 # Commanded vehicle depth: 1040.904167 # Seafloor depth: -1085.111492 # behavior reson { duration = 6; MB_Range = 176.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 176.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.738258 meters # Minimum depth: 1085.593450 meters looking forward 200.000000 meters along route # Maximum depth: 1090.758084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.593450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755845; longitude = -121.858271; duration = 406; initialDepth = 1046.748258; finalDepth = 1045.593450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.050845 # Actual altitude: 45.050845 # Commanded vehicle depth: 1045.59345 # Seafloor depth: -1090.644295 # behavior reson { duration = 6; MB_Range = 180.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 180.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.576607 meters # Minimum depth: 1086.748258 meters looking forward 200.000000 meters along route # Maximum depth: 1090.565187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.748258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756394; longitude = -121.859172; duration = 402; initialDepth = 1046.748258; finalDepth = 1046.748258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.050845 # Actual altitude: 45.050845 # Commanded vehicle depth: 1046.748258 # Seafloor depth: -1086.789163 # behavior reson { duration = 6; MB_Range = 180.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.03; MB_Bottom_Detect_Filter_Max_Range = 180.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.013337 meters # Minimum depth: 1086.748258 meters looking forward 200.000000 meters along route # Maximum depth: 1092.837169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.748258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756937; longitude = -121.860063; duration = 400; initialDepth = 1049.201337; finalDepth = 1046.748258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.394532 # Actual altitude: 42.394532 # Commanded vehicle depth: 1046.748258 # Seafloor depth: -1089.142790 # behavior reson { duration = 6; MB_Range = 169.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.341110 meters # Minimum depth: 1089.201337 meters looking forward 200.000000 meters along route # Maximum depth: 1096.610482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.201337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757478; longitude = -121.860948; duration = 409; initialDepth = 1053.054756; finalDepth = 1049.201337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6405460000001 # Actual altitude: 43.6405460000001 # Commanded vehicle depth: 1049.201337 # Seafloor depth: -1092.841883 # behavior reson { duration = 6; MB_Range = 174.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.363227 meters # Minimum depth: 1093.054756 meters looking forward 200.000000 meters along route # Maximum depth: 1100.324263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.054756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758031; longitude = -121.861854; duration = 409; initialDepth = 1056.809104; finalDepth = 1053.054756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6405460000001 # Actual altitude: 43.6405460000001 # Commanded vehicle depth: 1053.054756 # Seafloor depth: -1096.612003 # behavior reson { duration = 6; MB_Range = 174.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.404181 meters # Minimum depth: 1096.809104 meters looking forward 200.000000 meters along route # Maximum depth: 1102.486209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.809104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758584; longitude = -121.862761; duration = 409; initialDepth = 1059.748691; finalDepth = 1056.809104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.557247 # Actual altitude: 43.557247 # Commanded vehicle depth: 1056.809104 # Seafloor depth: -1100.249524 # behavior reson { duration = 6; MB_Range = 174.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 174.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.403709 meters # Minimum depth: 1099.748691 meters looking forward 200.000000 meters along route # Maximum depth: 1102.486209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.748691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759137; longitude = -121.863667; duration = 409; initialDepth = 1059.748691; finalDepth = 1059.748691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.4404200000001 # Actual altitude: 43.4404200000001 # Commanded vehicle depth: 1059.748691 # Seafloor depth: -1101.965059 # behavior reson { duration = 6; MB_Range = 173.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 173.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.403236 meters # Minimum depth: 1099.748691 meters looking forward 200.000000 meters along route # Maximum depth: 1102.756303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.748691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759690; longitude = -121.864574; duration = 409; initialDepth = 1060.701616; finalDepth = 1059.748691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.2163680000001 # Actual altitude: 42.2163680000001 # Commanded vehicle depth: 1059.748691 # Seafloor depth: -1101.020963 # behavior reson { duration = 6; MB_Range = 168.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 168.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.402764 meters # Minimum depth: 1100.701616 meters looking forward 200.000000 meters along route # Maximum depth: 1103.063939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.701616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760243; longitude = -121.865481; duration = 409; initialDepth = 1060.712249; finalDepth = 1060.701616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2722719999999 # Actual altitude: 41.2722719999999 # Commanded vehicle depth: 1060.701616 # Seafloor depth: -1100.701616 # behavior reson { duration = 6; MB_Range = 165.09; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 165.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.402291 meters # Minimum depth: 1100.712249 meters looking forward 200.000000 meters along route # Maximum depth: 1105.828648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.712249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760797; longitude = -121.866388; duration = 409; initialDepth = 1063.243968; finalDepth = 1060.712249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3645060000001 # Actual altitude: 42.3645060000001 # Commanded vehicle depth: 1060.712249 # Seafloor depth: -1103.076755 # behavior reson { duration = 6; MB_Range = 169.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.401819 meters # Minimum depth: 1103.243968 meters looking forward 200.000000 meters along route # Maximum depth: 1108.013753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.243968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761350; longitude = -121.867294; duration = 409; initialDepth = 1066.009910; finalDepth = 1063.243968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5909830000001 # Actual altitude: 42.5909830000001 # Commanded vehicle depth: 1063.243968 # Seafloor depth: -1105.834951 # behavior reson { duration = 6; MB_Range = 170.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.401347 meters # Minimum depth: 1106.009910 meters looking forward 200.000000 meters along route # Maximum depth: 1110.871804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.009910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761903; longitude = -121.868201; duration = 409; initialDepth = 1068.176716; finalDepth = 1066.009910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5909830000001 # Actual altitude: 42.5909830000001 # Commanded vehicle depth: 1066.00991 # Seafloor depth: -1108.026762 # behavior reson { duration = 6; MB_Range = 170.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.400875 meters # Minimum depth: 1108.176716 meters looking forward 200.000000 meters along route # Maximum depth: 1112.644617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1068.176716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762456; longitude = -121.869108; duration = 409; initialDepth = 1070.973688; finalDepth = 1068.176716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.707676 # Actual altitude: 42.707676 # Commanded vehicle depth: 1068.176716 # Seafloor depth: -1110.884392 # behavior reson { duration = 6; MB_Range = 170.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 170.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.400402 meters # Minimum depth: 1110.973688 meters looking forward 200.000000 meters along route # Maximum depth: 1114.704852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1070.973688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763010; longitude = -121.870014; duration = 409; initialDepth = 1072.734457; finalDepth = 1070.973688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.707676 # Actual altitude: 42.707676 # Commanded vehicle depth: 1070.973688 # Seafloor depth: -1112.646181 # behavior reson { duration = 6; MB_Range = 170.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 170.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.737220 meters # Minimum depth: 1112.734457 meters looking forward 200.000000 meters along route # Maximum depth: 1117.710039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.734457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763563; longitude = -121.870921; duration = 406; initialDepth = 1074.792656; finalDepth = 1072.734457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.982242 # Actual altitude: 41.982242 # Commanded vehicle depth: 1072.734457 # Seafloor depth: -1114.716699 # behavior reson { duration = 6; MB_Range = 167.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 167.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.564625 meters # Minimum depth: 1114.792656 meters looking forward 200.000000 meters along route # Maximum depth: 1119.786387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1074.792656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764112; longitude = -121.871822; duration = 402; initialDepth = 1077.793237; finalDepth = 1074.792656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.995637 # Actual altitude: 42.995637 # Commanded vehicle depth: 1074.792656 # Seafloor depth: -1117.788293 # behavior reson { duration = 6; MB_Range = 171.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 171.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.012410 meters # Minimum depth: 1117.793237 meters looking forward 200.000000 meters along route # Maximum depth: 1121.395771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1077.793237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764656; longitude = -121.872713; duration = 400; initialDepth = 1079.920354; finalDepth = 1077.793237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.995637 # Actual altitude: 42.995637 # Commanded vehicle depth: 1077.793237 # Seafloor depth: -1119.859095 # behavior reson { duration = 6; MB_Range = 171.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 171.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.334525 meters # Minimum depth: 1119.920354 meters looking forward 200.000000 meters along route # Maximum depth: 1122.981936 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.920354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765196; longitude = -121.873598; duration = 409; initialDepth = 1081.486918; finalDepth = 1079.920354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0658579999999 # Actual altitude: 42.0658579999999 # Commanded vehicle depth: 1079.920354 # Seafloor depth: -1121.391508 # behavior reson { duration = 6; MB_Range = 168.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.351132 meters # Minimum depth: 1121.486918 meters looking forward 200.000000 meters along route # Maximum depth: 1123.998624 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.486918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765749; longitude = -121.874504; duration = 409; initialDepth = 1083.115542; finalDepth = 1081.486918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4935599999999 # Actual altitude: 41.4935599999999 # Commanded vehicle depth: 1081.486918 # Seafloor depth: -1122.980478 # behavior reson { duration = 6; MB_Range = 165.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 165.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.397591 meters # Minimum depth: 1123.115542 meters looking forward 200.000000 meters along route # Maximum depth: 1124.993223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.115542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766302; longitude = -121.875411; duration = 409; initialDepth = 1083.998227; finalDepth = 1083.115542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4935599999999 # Actual altitude: 41.4935599999999 # Commanded vehicle depth: 1083.115542 # Seafloor depth: -1123.984828 # behavior reson { duration = 6; MB_Range = 165.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 165.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.397120 meters # Minimum depth: 1123.998227 meters looking forward 200.000000 meters along route # Maximum depth: 1127.040095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.998227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766855; longitude = -121.876317; duration = 409; initialDepth = 1085.072125; finalDepth = 1083.998227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9953390000001 # Actual altitude: 40.9953390000001 # Commanded vehicle depth: 1083.998227 # Seafloor depth: -1124.993566 # behavior reson { duration = 6; MB_Range = 163.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 163.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.396647 meters # Minimum depth: 1125.072125 meters looking forward 200.000000 meters along route # Maximum depth: 1128.643155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1085.072125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767408; longitude = -121.877224; duration = 409; initialDepth = 1087.115038; finalDepth = 1085.072125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.97073 # Actual altitude: 41.97073 # Commanded vehicle depth: 1085.072125 # Seafloor depth: -1127.042855 # behavior reson { duration = 6; MB_Range = 167.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.396175 meters # Minimum depth: 1127.115038 meters looking forward 200.000000 meters along route # Maximum depth: 1130.144084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.115038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767962; longitude = -121.878131; duration = 409; initialDepth = 1088.695518; finalDepth = 1087.115038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.97073 # Actual altitude: 41.97073 # Commanded vehicle depth: 1087.115038 # Seafloor depth: -1128.647435 # behavior reson { duration = 6; MB_Range = 167.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 167.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.395703 meters # Minimum depth: 1128.695518 meters looking forward 200.000000 meters along route # Maximum depth: 1131.845194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.695518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768515; longitude = -121.879038; duration = 409; initialDepth = 1090.202039; finalDepth = 1088.695518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5323970000002 # Actual altitude: 41.5323970000002 # Commanded vehicle depth: 1088.695518 # Seafloor depth: -1130.119947 # behavior reson { duration = 6; MB_Range = 166.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 166.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.395231 meters # Minimum depth: 1130.202039 meters looking forward 200.000000 meters along route # Maximum depth: 1133.354060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1090.202039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769068; longitude = -121.879944; duration = 409; initialDepth = 1091.926334; finalDepth = 1090.202039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6275679999999 # Actual altitude: 41.6275679999999 # Commanded vehicle depth: 1090.202039 # Seafloor depth: -1131.829607 # behavior reson { duration = 6; MB_Range = 166.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 166.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.394759 meters # Minimum depth: 1131.926334 meters looking forward 200.000000 meters along route # Maximum depth: 1135.354628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1091.926334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769621; longitude = -121.880851; duration = 409; initialDepth = 1093.450620; finalDepth = 1091.926334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6275679999999 # Actual altitude: 41.6275679999999 # Commanded vehicle depth: 1091.926334 # Seafloor depth: -1133.363755 # behavior reson { duration = 6; MB_Range = 166.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 166.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.394287 meters # Minimum depth: 1133.450620 meters looking forward 200.000000 meters along route # Maximum depth: 1137.532675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.450620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770175; longitude = -121.881758; duration = 409; initialDepth = 1095.432586; finalDepth = 1093.450620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9256369999998 # Actual altitude: 41.9256369999998 # Commanded vehicle depth: 1093.45062 # Seafloor depth: -1135.376257 # behavior reson { duration = 6; MB_Range = 167.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.393814 meters # Minimum depth: 1135.432586 meters looking forward 200.000000 meters along route # Maximum depth: 1140.175596 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.432586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770728; longitude = -121.882664; duration = 409; initialDepth = 1097.583675; finalDepth = 1095.432586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1193680000001 # Actual altitude: 42.1193680000001 # Commanded vehicle depth: 1095.432586 # Seafloor depth: -1137.551954 # behavior reson { duration = 6; MB_Range = 168.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 168.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.736183 meters # Minimum depth: 1137.583675 meters looking forward 200.000000 meters along route # Maximum depth: 1143.430238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.583675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771281; longitude = -121.883571; duration = 406; initialDepth = 1100.163324; finalDepth = 1097.583675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5907659999998 # Actual altitude: 42.5907659999998 # Commanded vehicle depth: 1097.583675 # Seafloor depth: -1140.174441 # behavior reson { duration = 6; MB_Range = 170.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.552648 meters # Minimum depth: 1140.163324 meters looking forward 200.000000 meters along route # Maximum depth: 1144.090225 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1100.163324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771831; longitude = -121.884472; duration = 402; initialDepth = 1102.118820; finalDepth = 1100.163324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1924299999998 # Actual altitude: 43.1924299999998 # Commanded vehicle depth: 1100.163324 # Seafloor depth: -1143.355754 # behavior reson { duration = 6; MB_Range = 172.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 172.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.011484 meters # Minimum depth: 1142.118820 meters looking forward 200.000000 meters along route # Maximum depth: 1144.090225 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.118820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772374; longitude = -121.885363; duration = 400; initialDepth = 1102.118820; finalDepth = 1102.118820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1924299999998 # Actual altitude: 43.1924299999998 # Commanded vehicle depth: 1102.11882 # Seafloor depth: -1143.263493 # behavior reson { duration = 6; MB_Range = 172.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 172.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.327942 meters # Minimum depth: 1142.118820 meters looking forward 200.000000 meters along route # Maximum depth: 1144.169359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.118820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772914; longitude = -121.886248; duration = 409; initialDepth = 1102.156967; finalDepth = 1102.118820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.144673 # Actual altitude: 41.144673 # Commanded vehicle depth: 1102.11882 # Seafloor depth: -1142.235497 # behavior reson { duration = 6; MB_Range = 164.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 164.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.339040 meters # Minimum depth: 1142.156967 meters looking forward 200.000000 meters along route # Maximum depth: 1146.869012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.156967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773467; longitude = -121.887154; duration = 409; initialDepth = 1104.387149; finalDepth = 1102.156967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0127040000002 # Actual altitude: 42.0127040000002 # Commanded vehicle depth: 1102.156967 # Seafloor depth: -1144.169671 # behavior reson { duration = 6; MB_Range = 168.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 168.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.391005 meters # Minimum depth: 1144.387149 meters looking forward 200.000000 meters along route # Maximum depth: 1150.300287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1104.387149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774020; longitude = -121.888061; duration = 409; initialDepth = 1107.080726; finalDepth = 1104.387149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4826320000002 # Actual altitude: 42.4826320000002 # Commanded vehicle depth: 1104.387149 # Seafloor depth: -1146.869781 # behavior reson { duration = 6; MB_Range = 169.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 169.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.390533 meters # Minimum depth: 1147.080726 meters looking forward 200.000000 meters along route # Maximum depth: 1154.842518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1107.080726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774573; longitude = -121.888967; duration = 409; initialDepth = 1110.480490; finalDepth = 1107.080726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.225015 # Actual altitude: 43.225015 # Commanded vehicle depth: 1107.080726 # Seafloor depth: -1150.305741 # behavior reson { duration = 6; MB_Range = 172.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 172.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.390061 meters # Minimum depth: 1150.480490 meters looking forward 200.000000 meters along route # Maximum depth: 1156.531360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.480490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775127; longitude = -121.889874; duration = 409; initialDepth = 1114.943296; finalDepth = 1110.480490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.3699350000002 # Actual altitude: 44.3699350000002 # Commanded vehicle depth: 1110.48049 # Seafloor depth: -1154.850425 # behavior reson { duration = 6; MB_Range = 177.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 177.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.389589 meters # Minimum depth: 1154.943296 meters looking forward 200.000000 meters along route # Maximum depth: 1157.885802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.943296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775680; longitude = -121.890781; duration = 409; initialDepth = 1116.560983; finalDepth = 1114.943296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.3699350000002 # Actual altitude: 44.3699350000002 # Commanded vehicle depth: 1114.943296 # Seafloor depth: -1156.457349 # behavior reson { duration = 6; MB_Range = 177.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 177.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 102.389117 meters # Minimum depth: 1156.560983 meters looking forward 200.000000 meters along route # Maximum depth: 1159.974801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1116.560983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776233; longitude = -121.891688; duration = 409; initialDepth = 1118.043633; finalDepth = 1116.560983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5140530000001 # Actual altitude: 41.5140530000001 # Commanded vehicle depth: 1116.560983 # Seafloor depth: -1157.895044 # behavior reson { duration = 6; MB_Range = 166.06; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 166.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.993044 meters # Minimum depth: 1158.043633 meters looking forward 200.000000 meters along route # Maximum depth: 1160.485882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1118.043633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776786; longitude = -121.892594; duration = 407; initialDepth = 1119.408474; finalDepth = 1118.043633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.658404 # Actual altitude: 41.658404 # Commanded vehicle depth: 1118.043633 # Seafloor depth: -1159.702037 # behavior reson { duration = 6; MB_Range = 166.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 100.286507 meters # Minimum depth: 1159.408474 meters looking forward 200.000000 meters along route # Maximum depth: 1160.485882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.408474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777337; longitude = -121.893497; duration = 401; initialDepth = 1115.134571; finalDepth = 1119.408474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.658404 # Actual altitude: 41.658404 # Commanded vehicle depth: 1119.408474 # Seafloor depth: -1160.332123 # behavior reson { duration = 6; MB_Range = 166.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 188 # Segment length 101.558760 meters # Minimum depth: 1155.134571 meters looking forward 200.000000 meters along route # Maximum depth: 1160.347364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.134571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777879; longitude = -121.894386; duration = 406; initialDepth = 1115.030182; finalDepth = 1115.134571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.296374 # Actual altitude: 44.296374 # Commanded vehicle depth: 1115.134571 # Seafloor depth: -1159.430945 # behavior reson { duration = 6; MB_Range = 177.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 177.19; 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 187 # Segment length 128.039119 meters # Minimum depth: 1155.030182 meters looking forward 200.000000 meters along route # Maximum depth: 1158.927258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.030182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778428; longitude = -121.895285; duration = 512; # abortOnTimeout = True; initialDepth = 1118.473557; finalDepth = 1115.030182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.296374 # Actual altitude: 44.296374 # Commanded vehicle depth: 1115.030182 # Seafloor depth: -1155.030182 # behavior reson { duration = 6; MB_Range = 177.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 177.19; 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 186 # Segment length 173.644994 meters # Minimum depth: 1158.473557 meters looking forward 200.000000 meters along route # Maximum depth: 1161.098344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1118.473557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777551; longitude = -121.896206; duration = 694; # abortOnTimeout = True; initialDepth = 1120.158266; finalDepth = 1118.473557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.5014489999999 # Actual altitude: 40.5014489999999 # Commanded vehicle depth: 1118.473557 # Seafloor depth: -1158.975006 # behavior reson { duration = 6; MB_Range = 162.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 162.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 186 # Segment length 101.042749 meters # Minimum depth: 1160.158266 meters looking forward 200.000000 meters along route # Maximum depth: 1161.731758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.158266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776955; longitude = -121.894430; duration = 404; initialDepth = 1120.524032; finalDepth = 1120.158266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9591190000001 # Actual altitude: 40.9591190000001 # Commanded vehicle depth: 1120.158266 # Seafloor depth: -1161.117385 # behavior reson { duration = 6; MB_Range = 163.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 163.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.033473 meters # Minimum depth: 1160.524032 meters looking forward 200.000000 meters along route # Maximum depth: 1161.731758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.524032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776608; longitude = -121.893396; duration = 400; initialDepth = 1117.836096; finalDepth = 1120.524032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.0182499999999 # Actual altitude: 41.0182499999999 # Commanded vehicle depth: 1120.524032 # Seafloor depth: -1161.542282 # behavior reson { duration = 6; MB_Range = 164.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.61; MB_Bottom_Detect_Filter_Max_Range = 164.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 101.619765 meters # Minimum depth: 1157.836096 meters looking forward 200.000000 meters along route # Maximum depth: 1161.551176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.836096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776264; longitude = -121.892373; duration = 406; initialDepth = 1115.454426; finalDepth = 1117.836096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.576577 # Actual altitude: 42.576577 # Commanded vehicle depth: 1117.836096 # Seafloor depth: -1160.412673 # behavior reson { duration = 6; MB_Range = 170.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.986395 meters # Minimum depth: 1155.454426 meters looking forward 200.000000 meters along route # Maximum depth: 1160.309054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.454426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775915; longitude = -121.891334; duration = 403; initialDepth = 1112.989323; finalDepth = 1115.454426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.576577 # Actual altitude: 42.576577 # Commanded vehicle depth: 1115.454426 # Seafloor depth: -1157.830059 # behavior reson { duration = 6; MB_Range = 170.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 170.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.092199 meters # Minimum depth: 1152.989323 meters looking forward 200.000000 meters along route # Maximum depth: 1157.802449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1112.989323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775568; longitude = -121.890301; duration = 400; initialDepth = 1111.120235; finalDepth = 1112.989323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4393680000001 # Actual altitude: 42.4393680000001 # Commanded vehicle depth: 1112.989323 # Seafloor depth: -1155.428691 # behavior reson { duration = 6; MB_Range = 169.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 101.620964 meters # Minimum depth: 1151.120235 meters looking forward 200.000000 meters along route # Maximum depth: 1155.365287 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.120235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775224; longitude = -121.889277; duration = 406; initialDepth = 1110.880263; finalDepth = 1111.120235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4393680000001 # Actual altitude: 42.4393680000001 # Commanded vehicle depth: 1111.120235 # Seafloor depth: -1152.924157 # behavior reson { duration = 6; MB_Range = 169.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.930040 meters # Minimum depth: 1150.880263 meters looking forward 200.000000 meters along route # Maximum depth: 1152.899939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.880263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774875; longitude = -121.888238; duration = 403; initialDepth = 1110.349646; finalDepth = 1110.880263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8039219999998 # Actual altitude: 41.8039219999998 # Commanded vehicle depth: 1110.880263 # Seafloor depth: -1151.236492 # behavior reson { duration = 6; MB_Range = 167.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.150926 meters # Minimum depth: 1150.349646 meters looking forward 200.000000 meters along route # Maximum depth: 1151.289457 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.349646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774529; longitude = -121.887205; duration = 400; initialDepth = 1106.717412; finalDepth = 1110.349646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6295460000001 # Actual altitude: 40.6295460000001 # Commanded vehicle depth: 1110.349646 # Seafloor depth: -1150.979192 # behavior reson { duration = 6; MB_Range = 162.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 101.622163 meters # Minimum depth: 1146.717412 meters looking forward 200.000000 meters along route # Maximum depth: 1151.035283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1106.717412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774185; longitude = -121.886181; duration = 406; initialDepth = 1104.345266; finalDepth = 1106.717412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.560436 # Actual altitude: 43.560436 # Commanded vehicle depth: 1106.717412 # Seafloor depth: -1150.277848 # behavior reson { duration = 6; MB_Range = 174.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 174.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.873684 meters # Minimum depth: 1144.345266 meters looking forward 200.000000 meters along route # Maximum depth: 1150.157012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1104.345266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773836; longitude = -121.885141; duration = 403; initialDepth = 1103.320546; finalDepth = 1104.345266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.560436 # Actual altitude: 43.560436 # Commanded vehicle depth: 1104.345266 # Seafloor depth: -1146.707707 # behavior reson { duration = 6; MB_Range = 174.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 174.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.209655 meters # Minimum depth: 1143.320546 meters looking forward 200.000000 meters along route # Maximum depth: 1146.643082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.320546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773489; longitude = -121.884110; duration = 400; initialDepth = 1103.306528; finalDepth = 1103.320546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.362441 # Actual altitude: 42.362441 # Commanded vehicle depth: 1103.320546 # Seafloor depth: -1144.281871 # behavior reson { duration = 6; MB_Range = 169.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 101.623362 meters # Minimum depth: 1143.306528 meters looking forward 200.000000 meters along route # Maximum depth: 1145.007904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.306528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773145; longitude = -121.883085; duration = 406; initialDepth = 1099.389781; finalDepth = 1103.306528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.961325 # Actual altitude: 40.961325 # Commanded vehicle depth: 1103.306528 # Seafloor depth: -1143.311585 # behavior reson { duration = 6; MB_Range = 163.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.58; MB_Bottom_Detect_Filter_Max_Range = 163.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 101.623765 meters # Minimum depth: 1139.389781 meters looking forward 200.000000 meters along route # Maximum depth: 1145.007904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1099.389781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772796; longitude = -121.882045; duration = 406; initialDepth = 1097.627998; finalDepth = 1099.389781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.2148499999998 # Actual altitude: 45.2148499999998 # Commanded vehicle depth: 1099.389781 # Seafloor depth: -1144.604631 # behavior reson { duration = 6; MB_Range = 180.86; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 186 # Segment length 100.197062 meters # Minimum depth: 1137.627998 meters looking forward 200.000000 meters along route # Maximum depth: 1144.540334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.627998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772447; longitude = -121.881006; duration = 400; initialDepth = 1095.692285; finalDepth = 1097.627998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.2148499999998 # Actual altitude: 45.2148499999998 # Commanded vehicle depth: 1097.627998 # Seafloor depth: -1139.361140 # behavior reson { duration = 6; MB_Range = 180.86; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.86; 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 185 # Segment length 146.998959 meters # Minimum depth: 1135.692285 meters looking forward 200.000000 meters along route # Maximum depth: 1140.149674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.692285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772103; longitude = -121.879981; duration = 587; # abortOnTimeout = True; initialDepth = 1095.692285; finalDepth = 1095.692285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.9355839999998 # Actual altitude: 41.9355839999998 # Commanded vehicle depth: 1095.692285 # Seafloor depth: -1137.627869 # behavior reson { duration = 6; MB_Range = 167.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 184 # Segment length 114.269131 meters # Minimum depth: 1135.692285 meters looking forward 200.000000 meters along route # Maximum depth: 1139.621038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.692285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770961; longitude = -121.879156; duration = 457; # abortOnTimeout = True; initialDepth = 1093.229471; finalDepth = 1095.692285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.9355839999998 # Actual altitude: 41.9355839999998 # Commanded vehicle depth: 1095.692285 # Seafloor depth: -1135.811401 # behavior reson { duration = 6; MB_Range = 167.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 183 # Segment length 81.266674 meters # Minimum depth: 1133.229471 meters looking forward 200.000000 meters along route # Maximum depth: 1138.114901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1093.229471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770120; longitude = -121.878426; duration = 325; # abortOnTimeout = True; initialDepth = 1090.033878; finalDepth = 1093.229471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.793997 # Actual altitude: 42.793997 # Commanded vehicle depth: 1093.229471 # Seafloor depth: -1136.023468 # behavior reson { duration = 6; MB_Range = 171.18; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 171.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 183 # Segment length 101.320549 meters # Minimum depth: 1130.033878 meters looking forward 200.000000 meters along route # Maximum depth: 1136.862828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1090.033878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769792; longitude = -121.877622; duration = 405; initialDepth = 1086.024559; finalDepth = 1090.033878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.116368 # Actual altitude: 43.116368 # Commanded vehicle depth: 1090.033878 # Seafloor depth: -1133.150246 # behavior reson { duration = 6; MB_Range = 172.47; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 172.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 182 # Segment length 102.149297 meters # Minimum depth: 1126.024559 meters looking forward 200.000000 meters along route # Maximum depth: 1132.918363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1086.024559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769383; longitude = -121.876620; duration = 408; # abortOnTimeout = True; initialDepth = 1083.442047; finalDepth = 1086.024559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.962898 # Actual altitude: 43.962898 # Commanded vehicle depth: 1086.024559 # Seafloor depth: -1129.987457 # behavior reson { duration = 6; MB_Range = 175.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 175.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 181 # Segment length 99.445041 meters # Minimum depth: 1123.442047 meters looking forward 200.000000 meters along route # Maximum depth: 1129.895106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.442047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768926; longitude = -121.875639; duration = 397; # abortOnTimeout = True; initialDepth = 1082.995259; finalDepth = 1083.442047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.962898 # Actual altitude: 43.962898 # Commanded vehicle depth: 1083.442047 # Seafloor depth: -1125.961456 # behavior reson { duration = 6; MB_Range = 175.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 175.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 181 # Segment length 100.453006 meters # Minimum depth: 1122.995259 meters looking forward 200.000000 meters along route # Maximum depth: 1125.961456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1082.995259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768182; longitude = -121.875026; duration = 401; initialDepth = 1082.995259; finalDepth = 1082.995259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.519409 # Actual altitude: 42.519409 # Commanded vehicle depth: 1082.995259 # Seafloor depth: -1123.411144 # behavior reson { duration = 6; MB_Range = 170.08; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 181 # Segment length 101.492281 meters # Minimum depth: 1122.995259 meters looking forward 200.000000 meters along route # Maximum depth: 1123.906139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1082.995259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767430; longitude = -121.874407; duration = 405; initialDepth = 1083.475564; finalDepth = 1082.995259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.4158849999999 # Actual altitude: 40.4158849999999 # Commanded vehicle depth: 1082.995259 # Seafloor depth: -1123.118397 # behavior reson { duration = 6; MB_Range = 161.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 161.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 180 # Segment length 129.219683 meters # Minimum depth: 1123.475564 meters looking forward 200.000000 meters along route # Maximum depth: 1129.414752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.475564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766670; longitude = -121.873781; duration = 516; # abortOnTimeout = True; initialDepth = 1084.220718; finalDepth = 1083.475564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.451468 # Actual altitude: 40.451468 # Commanded vehicle depth: 1083.475564 # Seafloor depth: -1123.927032 # behavior reson { duration = 6; MB_Range = 161.81; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 161.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 180 # Segment length 101.423005 meters # Minimum depth: 1124.220718 meters looking forward 200.000000 meters along route # Maximum depth: 1130.058569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.220718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765749; longitude = -121.872906; duration = 405; initialDepth = 1079.323081; finalDepth = 1084.220718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 45.2115610000001 # Actual altitude: 45.2115610000001 # Commanded vehicle depth: 1084.220718 # Seafloor depth: -1129.432279 # behavior reson { duration = 6; MB_Range = 180.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 179 # Segment length 77.574332 meters # Minimum depth: 1119.323081 meters looking forward 200.000000 meters along route # Maximum depth: 1130.058569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.323081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765026; longitude = -121.872219; duration = 310; # abortOnTimeout = True; initialDepth = 1075.850862; finalDepth = 1079.323081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 45.2115610000001 # Actual altitude: 45.2115610000001 # Commanded vehicle depth: 1079.323081 # Seafloor depth: -1124.183380 # behavior reson { duration = 6; MB_Range = 180.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 178 # Segment length 130.776472 meters # Minimum depth: 1115.850862 meters looking forward 200.000000 meters along route # Maximum depth: 1123.669406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1075.850862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764562; longitude = -121.871577; duration = 523; # abortOnTimeout = True; initialDepth = 1072.214763; finalDepth = 1075.850862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.8602989999999 # Actual altitude: 44.8602989999999 # Commanded vehicle depth: 1075.850862 # Seafloor depth: -1119.302216 # behavior reson { duration = 6; MB_Range = 179.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 179.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 177 # Segment length 141.430459 meters # Minimum depth: 1112.214763 meters looking forward 200.000000 meters along route # Maximum depth: 1116.164551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.214763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764186; longitude = -121.870206; duration = 565; # abortOnTimeout = True; initialDepth = 1067.843272; finalDepth = 1072.214763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.6812640000001 # Actual altitude: 43.6812640000001 # Commanded vehicle depth: 1072.214763 # Seafloor depth: -1115.896027 # behavior reson { duration = 6; MB_Range = 174.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 174.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 176 # Segment length 126.847076 meters # Minimum depth: 1107.843272 meters looking forward 200.000000 meters along route # Maximum depth: 1114.963187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.843272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763795; longitude = -121.868717; duration = 507; # abortOnTimeout = True; initialDepth = 1065.792233; finalDepth = 1067.843272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.3293349999999 # Actual altitude: 44.3293349999999 # Commanded vehicle depth: 1067.843272 # Seafloor depth: -1112.172607 # behavior reson { duration = 6; MB_Range = 177.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 177.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 175 # Segment length 112.175551 meters # Minimum depth: 1105.792233 meters looking forward 200.000000 meters along route # Maximum depth: 1110.911951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1065.792233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763375; longitude = -121.867412; duration = 448; # abortOnTimeout = True; initialDepth = 1064.606164; finalDepth = 1065.792233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.3293349999999 # Actual altitude: 44.3293349999999 # Commanded vehicle depth: 1065.792233 # Seafloor depth: -1107.832581 # behavior reson { duration = 6; MB_Range = 177.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 177.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 174 # Segment length 66.896428 meters # Minimum depth: 1104.606164 meters looking forward 200.000000 meters along route # Maximum depth: 1108.381382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.606164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763043; longitude = -121.866240; duration = 267; # abortOnTimeout = True; initialDepth = 1064.606164; finalDepth = 1064.606164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.040348 # Actual altitude: 42.040348 # Commanded vehicle depth: 1064.606164 # Seafloor depth: -1105.778046 # behavior reson { duration = 6; MB_Range = 168.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 168.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 173 # Segment length 126.717335 meters # Minimum depth: 1104.606164 meters looking forward 200.000000 meters along route # Maximum depth: 1108.452339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.606164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762623; longitude = -121.865709; duration = 506; # abortOnTimeout = True; initialDepth = 1061.085942; finalDepth = 1064.606164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1718819999999 # Actual altitude: 41.1718819999999 # Commanded vehicle depth: 1064.606164 # Seafloor depth: -1104.610870 # behavior reson { duration = 6; MB_Range = 164.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 173 # Segment length 101.352278 meters # Minimum depth: 1101.085942 meters looking forward 200.000000 meters along route # Maximum depth: 1108.452339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.085942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761481; longitude = -121.865697; duration = 405; initialDepth = 1060.670292; finalDepth = 1061.085942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.357305 # Actual altitude: 44.357305 # Commanded vehicle depth: 1061.085942 # Seafloor depth: -1105.443247 # behavior reson { duration = 6; MB_Range = 177.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 177.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 172 # Segment length 80.019306 meters # Minimum depth: 1100.670292 meters looking forward 200.000000 meters along route # Maximum depth: 1106.983873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.670292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760567; longitude = -121.865687; duration = 320; # abortOnTimeout = True; initialDepth = 1060.253237; finalDepth = 1060.670292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.357305 # Actual altitude: 44.357305 # Commanded vehicle depth: 1060.670292 # Seafloor depth: -1101.056641 # behavior reson { duration = 6; MB_Range = 177.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 177.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 172 # Segment length 100.200651 meters # Minimum depth: 1100.253237 meters looking forward 200.000000 meters along route # Maximum depth: 1104.243928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.253237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759955; longitude = -121.865219; duration = 400; initialDepth = 1060.034403; finalDepth = 1060.253237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.1661710000001 # Actual altitude: 42.1661710000001 # Commanded vehicle depth: 1060.253237 # Seafloor depth: -1102.419408 # behavior reson { duration = 6; MB_Range = 168.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 171 # Segment length 84.569867 meters # Minimum depth: 1100.034403 meters looking forward 200.000000 meters along route # Maximum depth: 1104.890098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.034403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759188; longitude = -121.864633; duration = 338; # abortOnTimeout = True; initialDepth = 1060.034403; finalDepth = 1060.034403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.1661710000001 # Actual altitude: 42.1661710000001 # Commanded vehicle depth: 1060.034403 # Seafloor depth: -1100.196777 # behavior reson { duration = 6; MB_Range = 168.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 168.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 170 # Segment length 79.795675 meters # Minimum depth: 1100.034403 meters looking forward 200.000000 meters along route # Maximum depth: 1107.515301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.034403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758797; longitude = -121.863830; duration = 319; # abortOnTimeout = True; initialDepth = 1061.037444; finalDepth = 1060.034403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.9630639999998 # Actual altitude: 44.9630639999998 # Commanded vehicle depth: 1060.034403 # Seafloor depth: -1104.997467 # behavior reson { duration = 6; MB_Range = 179.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 179.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 170 # Segment length 101.318240 meters # Minimum depth: 1101.037444 meters looking forward 200.000000 meters along route # Maximum depth: 1107.515301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1061.037444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758291; longitude = -121.863203; duration = 405; initialDepth = 1054.188208; finalDepth = 1061.037444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.4142870000001 # Actual altitude: 45.4142870000001 # Commanded vehicle depth: 1061.037444 # Seafloor depth: -1106.451731 # behavior reson { duration = 6; MB_Range = 181.66; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 181.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 170 # Segment length 102.293846 meters # Minimum depth: 1094.188208 meters looking forward 200.000000 meters along route # Maximum depth: 1106.309219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.188208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757648; longitude = -121.862407; duration = 409; initialDepth = 1050.230869; finalDepth = 1054.188208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 46.7574359999999 # Actual altitude: 46.7574359999999 # Commanded vehicle depth: 1054.188208 # Seafloor depth: -1100.945644 # behavior reson { duration = 6; MB_Range = 187.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.05; MB_Bottom_Detect_Filter_Max_Range = 187.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 169 # Segment length 99.981425 meters # Minimum depth: 1090.230869 meters looking forward 200.000000 meters along route # Maximum depth: 1100.764922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.230869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756999; longitude = -121.861603; duration = 399; # abortOnTimeout = True; initialDepth = 1047.137010; finalDepth = 1050.230869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.7574359999999 # Actual altitude: 46.7574359999999 # Commanded vehicle depth: 1050.230869 # Seafloor depth: -1094.138733 # behavior reson { duration = 6; MB_Range = 187.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.05; MB_Bottom_Detect_Filter_Max_Range = 187.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 169 # Segment length 100.005677 meters # Minimum depth: 1087.137010 meters looking forward 200.000000 meters along route # Maximum depth: 1094.138733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.137010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756726; longitude = -121.860549; duration = 400; initialDepth = 1046.726471; finalDepth = 1047.137010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.907864 # Actual altitude: 43.907864 # Commanded vehicle depth: 1047.13701 # Seafloor depth: -1090.188817 # behavior reson { duration = 6; MB_Range = 175.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 175.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 168 # Segment length 150.852313 meters # Minimum depth: 1086.726471 meters looking forward 200.000000 meters along route # Maximum depth: 1091.546543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.726471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756453; longitude = -121.859495; duration = 603; # abortOnTimeout = True; initialDepth = 1043.477120; finalDepth = 1046.726471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0518070000001 # Actual altitude: 43.0518070000001 # Commanded vehicle depth: 1046.726471 # Seafloor depth: -1087.086243 # behavior reson { duration = 6; MB_Range = 172.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 172.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 168 # Segment length 101.934241 meters # Minimum depth: 1083.477120 meters looking forward 200.000000 meters along route # Maximum depth: 1091.546543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.477120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755877; longitude = -121.857984; duration = 407; initialDepth = 1039.908574; finalDepth = 1043.477120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.920419 # Actual altitude: 47.920419 # Commanded vehicle depth: 1043.47712 # Seafloor depth: -1091.397539 # behavior reson { duration = 6; MB_Range = 191.68; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 191.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 168 # Segment length 100.375470 meters # Minimum depth: 1079.908574 meters looking forward 200.000000 meters along route # Maximum depth: 1091.292563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.908574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755487; longitude = -121.856963; duration = 401; initialDepth = 1039.230435; finalDepth = 1039.908574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 47.920419 # Actual altitude: 47.920419 # Commanded vehicle depth: 1039.908574 # Seafloor depth: -1083.480241 # behavior reson { duration = 6; MB_Range = 191.68; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.75; MB_Bottom_Detect_Filter_Max_Range = 191.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 167 # Segment length 126.752994 meters # Minimum depth: 1079.230435 meters looking forward 200.000000 meters along route # Maximum depth: 1083.468314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.230435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755104; longitude = -121.855957; duration = 507; # abortOnTimeout = True; initialDepth = 1037.871103; finalDepth = 1039.230435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5716669999999 # Actual altitude: 43.5716669999999 # Commanded vehicle depth: 1039.230435 # Seafloor depth: -1079.902771 # behavior reson { duration = 6; MB_Range = 174.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 174.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 167 # Segment length 100.368022 meters # Minimum depth: 1077.871103 meters looking forward 200.000000 meters along route # Maximum depth: 1085.273078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.871103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754703; longitude = -121.854644; duration = 401; initialDepth = 1035.141904; finalDepth = 1037.871103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.767666 # Actual altitude: 45.767666 # Commanded vehicle depth: 1037.871103 # Seafloor depth: -1083.638769 # behavior reson { duration = 6; MB_Range = 183.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 183.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 167 # Segment length 100.368395 meters # Minimum depth: 1075.141904 meters looking forward 200.000000 meters along route # Maximum depth: 1085.273078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.141904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754385; longitude = -121.853605; duration = 401; initialDepth = 1033.444877; finalDepth = 1035.141904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.767666 # Actual altitude: 45.767666 # Commanded vehicle depth: 1035.141904 # Seafloor depth: -1077.784838 # behavior reson { duration = 6; MB_Range = 183.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.46; MB_Bottom_Detect_Filter_Max_Range = 183.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 167 # Segment length 101.050809 meters # Minimum depth: 1073.444877 meters looking forward 200.000000 meters along route # Maximum depth: 1077.713633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.444877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754068; longitude = -121.852565; duration = 404; initialDepth = 1033.444877; finalDepth = 1033.444877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.642934 # Actual altitude: 42.642934 # Commanded vehicle depth: 1033.444877 # Seafloor depth: -1075.137937 # behavior reson { duration = 6; MB_Range = 170.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 170.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 166 # Segment length 150.843460 meters # Minimum depth: 1073.444877 meters looking forward 200.000000 meters along route # Maximum depth: 1079.379984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.444877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753748; longitude = -121.851519; duration = 603; # abortOnTimeout = True; initialDepth = 1032.065541; finalDepth = 1033.444877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6930600000001 # Actual altitude: 41.6930600000001 # Commanded vehicle depth: 1033.444877 # Seafloor depth: -1073.475342 # behavior reson { duration = 6; MB_Range = 166.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 166.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 166 # Segment length 101.984495 meters # Minimum depth: 1072.065541 meters looking forward 200.000000 meters along route # Maximum depth: 1079.379984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.065541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752851; longitude = -121.850265; duration = 407; initialDepth = 1029.000091; finalDepth = 1032.065541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 46.7979520000001 # Actual altitude: 46.7979520000001 # Commanded vehicle depth: 1032.065541 # Seafloor depth: -1078.863493 # behavior reson { duration = 6; MB_Range = 187.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 187.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 165 # Segment length 75.610052 meters # Minimum depth: 1069.000091 meters looking forward 200.000000 meters along route # Maximum depth: 1079.379984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1029.000091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752244; longitude = -121.849418; duration = 302; # abortOnTimeout = True; initialDepth = 1026.695946; finalDepth = 1029.000091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.7979520000001 # Actual altitude: 46.7979520000001 # Commanded vehicle depth: 1029.000091 # Seafloor depth: -1072.012054 # behavior reson { duration = 6; MB_Range = 187.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 187.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 165 # Segment length 100.966294 meters # Minimum depth: 1066.695946 meters looking forward 200.000000 meters along route # Maximum depth: 1073.231590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.695946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752187; longitude = -121.848585; duration = 403; initialDepth = 1026.477904; finalDepth = 1026.695946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.0119629999999 # Actual altitude: 43.0119629999999 # Commanded vehicle depth: 1026.695946 # Seafloor depth: -1068.971738 # behavior reson { duration = 6; MB_Range = 172.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 164 # Segment length 131.155760 meters # Minimum depth: 1066.477904 meters looking forward 200.000000 meters along route # Maximum depth: 1070.637898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.477904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752111; longitude = -121.847472; duration = 524; # abortOnTimeout = True; initialDepth = 1024.558334; finalDepth = 1026.477904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.2757919999999 # Actual altitude: 42.2757919999999 # Commanded vehicle depth: 1026.477904 # Seafloor depth: -1066.684265 # behavior reson { duration = 6; MB_Range = 169.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 169.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 164 # Segment length 100.779377 meters # Minimum depth: 1064.558334 meters looking forward 200.000000 meters along route # Maximum depth: 1070.637898 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.558334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751548; longitude = -121.846196; duration = 403; initialDepth = 1024.331086; finalDepth = 1024.558334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 45.6087379999999 # Actual altitude: 45.6087379999999 # Commanded vehicle depth: 1024.558334 # Seafloor depth: -1070.167072 # behavior reson { duration = 6; MB_Range = 182.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 182.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 163 # Segment length 88.836212 meters # Minimum depth: 1064.331086 meters looking forward 200.000000 meters along route # Maximum depth: 1070.501341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.331086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751116; longitude = -121.845216; duration = 355; # abortOnTimeout = True; initialDepth = 1023.129182; finalDepth = 1024.331086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.6087379999999 # Actual altitude: 45.6087379999999 # Commanded vehicle depth: 1024.331086 # Seafloor depth: -1064.626801 # behavior reson { duration = 6; MB_Range = 182.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.37; MB_Bottom_Detect_Filter_Max_Range = 182.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 163 # Segment length 102.003321 meters # Minimum depth: 1063.129182 meters looking forward 200.000000 meters along route # Maximum depth: 1067.027041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.129182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750893; longitude = -121.844272; duration = 408; initialDepth = 1020.573931; finalDepth = 1023.129182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.403755 # Actual altitude: 43.403755 # Commanded vehicle depth: 1023.129182 # Seafloor depth: -1066.532937 # behavior reson { duration = 6; MB_Range = 173.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 173.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 163 # Segment length 100.584554 meters # Minimum depth: 1060.573931 meters looking forward 200.000000 meters along route # Maximum depth: 1066.388765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1020.573931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750638; longitude = -121.843189; duration = 402; initialDepth = 1017.149938; finalDepth = 1020.573931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.472037 # Actual altitude: 44.472037 # Commanded vehicle depth: 1020.573931 # Seafloor depth: -1065.045968 # behavior reson { duration = 6; MB_Range = 177.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 177.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 162 # Segment length 96.957953 meters # Minimum depth: 1057.149938 meters looking forward 200.000000 meters along route # Maximum depth: 1065.874516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.149938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750386; longitude = -121.842120; duration = 387; # abortOnTimeout = True; initialDepth = 1017.015512; finalDepth = 1017.149938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.472037 # Actual altitude: 44.472037 # Commanded vehicle depth: 1017.149938 # Seafloor depth: -1060.515320 # behavior reson { duration = 6; MB_Range = 177.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 177.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 161 # Segment length 80.766426 meters # Minimum depth: 1057.015512 meters looking forward 200.000000 meters along route # Maximum depth: 1062.226197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.015512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749590; longitude = -121.841677; duration = 323; # abortOnTimeout = True; initialDepth = 1015.263417; finalDepth = 1017.015512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.365382 # Actual altitude: 43.365382 # Commanded vehicle depth: 1017.015512 # Seafloor depth: -1057.135468 # behavior reson { duration = 6; MB_Range = 173.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 173.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 161 # Segment length 101.197108 meters # Minimum depth: 1055.263417 meters looking forward 200.000000 meters along route # Maximum depth: 1059.305597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.263417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749162; longitude = -121.840954; duration = 404; initialDepth = 1013.416027; finalDepth = 1015.263417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0016580000001 # Actual altitude: 44.0016580000001 # Commanded vehicle depth: 1015.263417 # Seafloor depth: -1059.265075 # behavior reson { duration = 6; MB_Range = 176.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 176.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 161 # Segment length 102.131100 meters # Minimum depth: 1053.416027 meters looking forward 200.000000 meters along route # Maximum depth: 1059.305597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.416027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748627; longitude = -121.840048; duration = 408; initialDepth = 1012.696105; finalDepth = 1013.416027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.0016580000001 # Actual altitude: 44.0016580000001 # Commanded vehicle depth: 1013.416027 # Seafloor depth: -1055.206418 # behavior reson { duration = 6; MB_Range = 176.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.40; MB_Bottom_Detect_Filter_Max_Range = 176.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 160 # Segment length 124.079821 meters # Minimum depth: 1052.696105 meters looking forward 200.000000 meters along route # Maximum depth: 1055.035783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.696105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748086; longitude = -121.839134; duration = 496; # abortOnTimeout = True; initialDepth = 1012.374394; finalDepth = 1012.696105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.790391 # Actual altitude: 41.790391 # Commanded vehicle depth: 1012.696105 # Seafloor depth: -1053.430908 # behavior reson { duration = 6; MB_Range = 167.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 167.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 160 # Segment length 101.852325 meters # Minimum depth: 1052.374394 meters looking forward 200.000000 meters along route # Maximum depth: 1053.238788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.374394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747673; longitude = -121.837859; duration = 407; initialDepth = 1011.965792; finalDepth = 1012.374394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.7348030000001 # Actual altitude: 40.7348030000001 # Commanded vehicle depth: 1012.374394 # Seafloor depth: -1052.824374 # behavior reson { duration = 6; MB_Range = 162.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 162.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 159 # Segment length 174.720002 meters # Minimum depth: 1051.965792 meters looking forward 200.000000 meters along route # Maximum depth: 1053.674484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.965792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747334; longitude = -121.836812; duration = 698; # abortOnTimeout = True; initialDepth = 1010.690652; finalDepth = 1011.965792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.5645730000001 # Actual altitude: 40.5645730000001 # Commanded vehicle depth: 1011.965792 # Seafloor depth: -1052.530365 # behavior reson { duration = 6; MB_Range = 162.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 162.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 159 # Segment length 100.454339 meters # Minimum depth: 1050.690652 meters looking forward 200.000000 meters along route # Maximum depth: 1053.639689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1010.690652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746945; longitude = -121.834940; duration = 401; initialDepth = 1009.833059; finalDepth = 1010.690652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.1590630000001 # Actual altitude: 41.1590630000001 # Commanded vehicle depth: 1010.690652 # Seafloor depth: -1051.849715 # behavior reson { duration = 6; MB_Range = 164.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 158 # Segment length 88.980211 meters # Minimum depth: 1049.833059 meters looking forward 200.000000 meters along route # Maximum depth: 1052.161294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1009.833059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746722; longitude = -121.833863; duration = 355; # abortOnTimeout = True; initialDepth = 1008.167279; finalDepth = 1009.833059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.547343 # Actual altitude: 41.547343 # Commanded vehicle depth: 1009.833059 # Seafloor depth: -1051.380402 # behavior reson { duration = 6; MB_Range = 166.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.93; MB_Bottom_Detect_Filter_Max_Range = 166.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 157 # Segment length 88.340033 meters # Minimum depth: 1048.167279 meters looking forward 200.000000 meters along route # Maximum depth: 1051.438678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.167279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746295; longitude = -121.833030; duration = 353; # abortOnTimeout = True; initialDepth = 1007.478645; finalDepth = 1008.167279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6632259999999 # Actual altitude: 41.6632259999999 # Commanded vehicle depth: 1008.167279 # Seafloor depth: -1049.830505 # behavior reson { duration = 6; MB_Range = 166.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 157 # Segment length 100.094861 meters # Minimum depth: 1047.478645 meters looking forward 200.000000 meters along route # Maximum depth: 1050.059203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.478645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745759; longitude = -121.832308; duration = 400; initialDepth = 1006.086384; finalDepth = 1007.478645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6632259999999 # Actual altitude: 41.6632259999999 # Commanded vehicle depth: 1007.478645 # Seafloor depth: -1048.066685 # behavior reson { duration = 6; MB_Range = 166.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 157 # Segment length 100.095291 meters # Minimum depth: 1046.086384 meters looking forward 200.000000 meters along route # Maximum depth: 1049.906219 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.086384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745151; longitude = -121.831490; duration = 400; initialDepth = 1004.062337; finalDepth = 1006.086384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7731630000001 # Actual altitude: 43.7731630000001 # Commanded vehicle depth: 1006.086384 # Seafloor depth: -1049.859547 # behavior reson { duration = 6; MB_Range = 175.09; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 175.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 157 # Segment length 100.095721 meters # Minimum depth: 1044.062337 meters looking forward 200.000000 meters along route # Maximum depth: 1049.821142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.062337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744543; longitude = -121.830671; duration = 400; initialDepth = 1001.830199; finalDepth = 1004.062337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7731630000001 # Actual altitude: 43.7731630000001 # Commanded vehicle depth: 1004.062337 # Seafloor depth: -1046.060989 # behavior reson { duration = 6; MB_Range = 175.09; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 175.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 157 # Segment length 101.900739 meters # Minimum depth: 1041.830199 meters looking forward 200.000000 meters along route # Maximum depth: 1046.057553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.830199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743936; longitude = -121.829853; duration = 407; initialDepth = 1000.011295; finalDepth = 1001.830199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.2091539999999 # Actual altitude: 42.2091539999999 # Commanded vehicle depth: 1001.830199 # Seafloor depth: -1044.039353 # behavior reson { duration = 6; MB_Range = 168.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 168.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 156 # Segment length 156.810999 meters # Minimum depth: 1040.011295 meters looking forward 200.000000 meters along route # Maximum depth: 1042.502978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1000.011295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743317; longitude = -121.829020; duration = 627; # abortOnTimeout = True; initialDepth = 999.714172; finalDepth = 1000.011295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.2091539999999 # Actual altitude: 42.2091539999999 # Commanded vehicle depth: 1000.011295 # Seafloor depth: -1041.859589 # behavior reson { duration = 6; MB_Range = 168.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 168.84; 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 155 # Segment length 131.269028 meters # Minimum depth: 1039.714172 meters looking forward 200.000000 meters along route # Maximum depth: 1042.688904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 999.714172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742366; longitude = -121.827737; duration = 525; # abortOnTimeout = True; initialDepth = 999.714172; finalDepth = 999.714172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.8482939999999 # Actual altitude: 41.8482939999999 # Commanded vehicle depth: 999.714172 # Seafloor depth: -1039.969788 # behavior reson { duration = 6; MB_Range = 167.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 167.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 154 # Segment length 138.660387 meters # Minimum depth: 1039.714172 meters looking forward 200.000000 meters along route # Maximum depth: 1048.883751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 999.714172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743309; longitude = -121.826860; duration = 554; # abortOnTimeout = True; initialDepth = 1003.806277; finalDepth = 999.714172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.485596 # Actual altitude: 40.485596 # Commanded vehicle depth: 999.714172 # Seafloor depth: -1040.199768 # behavior reson { duration = 6; MB_Range = 161.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.29; MB_Bottom_Detect_Filter_Max_Range = 161.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 154 # Segment length 100.857572 meters # Minimum depth: 1043.806277 meters looking forward 200.000000 meters along route # Maximum depth: 1048.883751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.806277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744164; longitude = -121.827978; duration = 403; initialDepth = 1003.054995; finalDepth = 1003.806277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.8703520000001 # Actual altitude: 44.8703520000001 # Commanded vehicle depth: 1003.806277 # Seafloor depth: -1048.676629 # behavior reson { duration = 6; MB_Range = 179.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 179.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 154 # Segment length 102.369327 meters # Minimum depth: 1043.054995 meters looking forward 200.000000 meters along route # Maximum depth: 1048.679567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.054995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744787; longitude = -121.828791; duration = 409; initialDepth = 1003.054995; finalDepth = 1003.054995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.8703520000001 # Actual altitude: 44.8703520000001 # Commanded vehicle depth: 1003.054995 # Seafloor depth: -1044.300764 # behavior reson { duration = 6; MB_Range = 179.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 179.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 153 # Segment length 102.866750 meters # Minimum depth: 1043.054995 meters looking forward 200.000000 meters along route # Maximum depth: 1046.432973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.054995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745418; longitude = -121.829617; duration = 411; # abortOnTimeout = True; initialDepth = 1004.001166; finalDepth = 1003.054995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2457690000001 # Actual altitude: 41.2457690000001 # Commanded vehicle depth: 1003.054995 # Seafloor depth: -1043.954163 # behavior reson { duration = 6; MB_Range = 164.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.75; MB_Bottom_Detect_Filter_Max_Range = 164.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 153 # Segment length 102.063533 meters # Minimum depth: 1044.001166 meters looking forward 200.000000 meters along route # Maximum depth: 1048.176747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.001166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745962; longitude = -121.830539; duration = 408; initialDepth = 1006.660086; finalDepth = 1004.001166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.474594 # Actual altitude: 42.474594 # Commanded vehicle depth: 1004.001166 # Seafloor depth: -1046.475760 # behavior reson { duration = 6; MB_Range = 169.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 152 # Segment length 105.661844 meters # Minimum depth: 1046.660086 meters looking forward 200.000000 meters along route # Maximum depth: 1051.676500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1006.660086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746501; longitude = -121.831453; duration = 422; # abortOnTimeout = True; initialDepth = 1008.367612; finalDepth = 1006.660086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.474594 # Actual altitude: 42.474594 # Commanded vehicle depth: 1006.660086 # Seafloor depth: -1048.190521 # behavior reson { duration = 6; MB_Range = 169.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 152 # Segment length 100.907529 meters # Minimum depth: 1048.367612 meters looking forward 200.000000 meters along route # Maximum depth: 1053.213869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.367612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746995; longitude = -121.832452; duration = 403; initialDepth = 1011.428332; finalDepth = 1008.367612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.431908 # Actual altitude: 43.431908 # Commanded vehicle depth: 1008.367612 # Seafloor depth: -1051.799520 # behavior reson { duration = 6; MB_Range = 173.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 173.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 151 # Segment length 160.016330 meters # Minimum depth: 1051.428332 meters looking forward 200.000000 meters along route # Maximum depth: 1053.219554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.428332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747467; longitude = -121.833406; duration = 640; # abortOnTimeout = True; initialDepth = 1012.262552; finalDepth = 1011.428332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.431908 # Actual altitude: 43.431908 # Commanded vehicle depth: 1011.428332 # Seafloor depth: -1052.243408 # behavior reson { duration = 6; MB_Range = 173.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 173.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 150 # Segment length 147.366722 meters # Minimum depth: 1052.262552 meters looking forward 200.000000 meters along route # Maximum depth: 1054.987949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.262552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748071; longitude = -121.835013; duration = 589; # abortOnTimeout = True; initialDepth = 1014.112380; finalDepth = 1012.262552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.033224 # Actual altitude: 41.033224 # Commanded vehicle depth: 1012.262552 # Seafloor depth: -1053.295776 # behavior reson { duration = 6; MB_Range = 164.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 164.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 149 # Segment length 125.108148 meters # Minimum depth: 1054.112380 meters looking forward 200.000000 meters along route # Maximum depth: 1057.996300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1014.112380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748653; longitude = -121.836478; duration = 500; # abortOnTimeout = True; initialDepth = 1016.141401; finalDepth = 1014.112380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.033224 # Actual altitude: 41.033224 # Commanded vehicle depth: 1014.11238 # Seafloor depth: -1055.057892 # behavior reson { duration = 6; MB_Range = 164.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 164.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 148 # Segment length 147.690960 meters # Minimum depth: 1056.141401 meters looking forward 200.000000 meters along route # Maximum depth: 1058.594321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.141401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749435; longitude = -121.837475; duration = 590; # abortOnTimeout = True; initialDepth = 1016.921052; finalDepth = 1016.141401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.9046499999999 # Actual altitude: 41.9046499999999 # Commanded vehicle depth: 1016.141401 # Seafloor depth: -1058.046051 # behavior reson { duration = 6; MB_Range = 167.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 167.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 147 # Segment length 99.054547 meters # Minimum depth: 1056.921052 meters looking forward 200.000000 meters along route # Maximum depth: 1058.634442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.921052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750674; longitude = -121.838073; duration = 396; # abortOnTimeout = True; initialDepth = 1017.147486; finalDepth = 1016.921052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9046499999999 # Actual altitude: 41.9046499999999 # Commanded vehicle depth: 1016.921052 # Seafloor depth: -1058.011658 # behavior reson { duration = 6; MB_Range = 167.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 167.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 147 # Segment length 100.879810 meters # Minimum depth: 1057.147486 meters looking forward 200.000000 meters along route # Maximum depth: 1058.634442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.147486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751485; longitude = -121.838533; duration = 403; initialDepth = 1017.275034; finalDepth = 1017.147486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.090606 # Actual altitude: 41.090606 # Commanded vehicle depth: 1017.147486 # Seafloor depth: -1057.147486 # behavior reson { duration = 6; MB_Range = 164.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 164.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 146 # Segment length 130.061933 meters # Minimum depth: 1057.275034 meters looking forward 200.000000 meters along route # Maximum depth: 1058.456223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.275034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752310; longitude = -121.839001; duration = 520; # abortOnTimeout = True; initialDepth = 1017.423134; finalDepth = 1017.275034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.3644919999999 # Actual altitude: 40.3644919999999 # Commanded vehicle depth: 1017.275034 # Seafloor depth: -1057.639526 # behavior reson { duration = 6; MB_Range = 161.46; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 161.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 145 # Segment length 134.460295 meters # Minimum depth: 1057.423134 meters looking forward 200.000000 meters along route # Maximum depth: 1062.830409 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1017.423134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753313; longitude = -121.839746; duration = 537; # abortOnTimeout = True; initialDepth = 1019.783433; finalDepth = 1017.423134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1096420000001 # Actual altitude: 41.1096420000001 # Commanded vehicle depth: 1017.423134 # Seafloor depth: -1058.532776 # behavior reson { duration = 6; MB_Range = 164.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 164.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.510680 meters # Minimum depth: 1059.783433 meters looking forward 200.000000 meters along route # Maximum depth: 1063.749333 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.783433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754160; longitude = -121.840809; duration = 402; initialDepth = 1023.472520; finalDepth = 1019.783433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.0134889999999 # Actual altitude: 43.0134889999999 # Commanded vehicle depth: 1019.783433 # Seafloor depth: -1062.796922 # behavior reson { duration = 6; MB_Range = 172.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 158.055202 meters # Minimum depth: 1063.472520 meters looking forward 200.000000 meters along route # Maximum depth: 1069.336738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.472520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754794; longitude = -121.841604; duration = 632; # abortOnTimeout = True; initialDepth = 1025.628303; finalDepth = 1023.472520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0134889999999 # Actual altitude: 43.0134889999999 # Commanded vehicle depth: 1023.47252 # Seafloor depth: -1063.715057 # behavior reson { duration = 6; MB_Range = 172.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 101.550840 meters # Minimum depth: 1065.628303 meters looking forward 200.000000 meters along route # Maximum depth: 1069.336738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.628303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755355; longitude = -121.843211; duration = 406; initialDepth = 1026.810185; finalDepth = 1025.628303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.683348 # Actual altitude: 43.683348 # Commanded vehicle depth: 1025.628303 # Seafloor depth: -1069.311651 # behavior reson { duration = 6; MB_Range = 174.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 174.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 143 # Segment length 83.456391 meters # Minimum depth: 1066.810185 meters looking forward 200.000000 meters along route # Maximum depth: 1069.336738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.810185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755716; longitude = -121.844243; duration = 333; # abortOnTimeout = True; initialDepth = 1026.810185; finalDepth = 1026.810185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.683348 # Actual altitude: 43.683348 # Commanded vehicle depth: 1026.810185 # Seafloor depth: -1066.886261 # behavior reson { duration = 6; MB_Range = 174.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 174.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 143 # Segment length 101.240386 meters # Minimum depth: 1066.810185 meters looking forward 200.000000 meters along route # Maximum depth: 1068.361615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.810185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755908; longitude = -121.845136; duration = 404; initialDepth = 1027.611362; finalDepth = 1026.810185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.3580959999999 # Actual altitude: 41.3580959999999 # Commanded vehicle depth: 1026.810185 # Seafloor depth: -1068.168281 # behavior reson { duration = 6; MB_Range = 165.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 165.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 101.320407 meters # Minimum depth: 1067.611362 meters looking forward 200.000000 meters along route # Maximum depth: 1069.125481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.611362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756140; longitude = -121.846218; duration = 405; initialDepth = 1027.645644; finalDepth = 1027.611362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.3580959999999 # Actual altitude: 41.3580959999999 # Commanded vehicle depth: 1027.611362 # Seafloor depth: -1067.637075 # behavior reson { duration = 6; MB_Range = 165.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.81; MB_Bottom_Detect_Filter_Max_Range = 165.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 101.320105 meters # Minimum depth: 1067.645644 meters looking forward 200.000000 meters along route # Maximum depth: 1071.229419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.645644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756373; longitude = -121.847302; duration = 405; initialDepth = 1029.203263; finalDepth = 1027.645644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.4900680000001 # Actual altitude: 41.4900680000001 # Commanded vehicle depth: 1027.645644 # Seafloor depth: -1069.135712 # behavior reson { duration = 6; MB_Range = 165.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 165.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 101.319805 meters # Minimum depth: 1069.203263 meters looking forward 200.000000 meters along route # Maximum depth: 1073.577891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1029.203263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756605; longitude = -121.848386; duration = 405; initialDepth = 1031.338294; finalDepth = 1029.203263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.093895 # Actual altitude: 42.093895 # Commanded vehicle depth: 1029.203263 # Seafloor depth: -1071.297158 # behavior reson { duration = 6; MB_Range = 168.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 168.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 101.975130 meters # Minimum depth: 1071.338294 meters looking forward 200.000000 meters along route # Maximum depth: 1077.489008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1031.338294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756838; longitude = -121.849469; duration = 407; initialDepth = 1035.390362; finalDepth = 1031.338294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.2612370000002 # Actual altitude: 42.2612370000002 # Commanded vehicle depth: 1031.338294 # Seafloor depth: -1073.599531 # behavior reson { duration = 6; MB_Range = 169.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 169.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 141.944132 meters # Minimum depth: 1075.390362 meters looking forward 200.000000 meters along route # Maximum depth: 1083.225634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.390362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757072; longitude = -121.850560; duration = 567; # abortOnTimeout = True; initialDepth = 1039.631775; finalDepth = 1035.390362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.2612370000002 # Actual altitude: 42.2612370000002 # Commanded vehicle depth: 1035.390362 # Seafloor depth: -1077.524353 # behavior reson { duration = 6; MB_Range = 169.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 169.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 141 # Segment length 125.675726 meters # Minimum depth: 1079.631775 meters looking forward 200.000000 meters along route # Maximum depth: 1087.553488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.631775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757242; longitude = -121.852116; duration = 502; # abortOnTimeout = True; initialDepth = 1042.659245; finalDepth = 1039.631775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.628937 # Actual altitude: 43.628937 # Commanded vehicle depth: 1039.631775 # Seafloor depth: -1083.260712 # behavior reson { duration = 6; MB_Range = 174.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 140 # Segment length 110.432952 meters # Minimum depth: 1082.659245 meters looking forward 200.000000 meters along route # Maximum depth: 1087.553488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.659245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757913; longitude = -121.853236; duration = 441; # abortOnTimeout = True; initialDepth = 1042.659245; finalDepth = 1042.659245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.628937 # Actual altitude: 43.628937 # Commanded vehicle depth: 1042.659245 # Seafloor depth: -1085.949158 # behavior reson { duration = 6; MB_Range = 174.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 140 # Segment length 100.824049 meters # Minimum depth: 1082.659245 meters looking forward 200.000000 meters along route # Maximum depth: 1089.187272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.659245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758672; longitude = -121.854026; duration = 403; initialDepth = 1043.881011; finalDepth = 1042.659245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.2899129999998 # Actual altitude: 43.2899129999998 # Commanded vehicle depth: 1042.659245 # Seafloor depth: -1083.783331 # behavior reson { duration = 6; MB_Range = 173.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 173.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 102.022582 meters # Minimum depth: 1083.881011 meters looking forward 200.000000 meters along route # Maximum depth: 1092.132811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.881011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759365; longitude = -121.854748; duration = 408; # abortOnTimeout = True; initialDepth = 1049.321495; finalDepth = 1043.881011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.411042 # Actual altitude: 45.411042 # Commanded vehicle depth: 1043.881011 # Seafloor depth: -1089.292053 # behavior reson { duration = 6; MB_Range = 181.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 181.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 101.120184 meters # Minimum depth: 1089.321495 meters looking forward 200.000000 meters along route # Maximum depth: 1092.206806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.321495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760029; longitude = -121.855529; duration = 404; initialDepth = 1049.333641; finalDepth = 1049.321495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.411042 # Actual altitude: 45.411042 # Commanded vehicle depth: 1049.321495 # Seafloor depth: -1089.321996 # behavior reson { duration = 6; MB_Range = 181.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 181.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 101.119773 meters # Minimum depth: 1089.333641 meters looking forward 200.000000 meters along route # Maximum depth: 1096.964879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.333641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760687; longitude = -121.856303; duration = 404; initialDepth = 1052.330772; finalDepth = 1049.333641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.8878999999999 # Actual altitude: 42.8878999999999 # Commanded vehicle depth: 1049.333641 # Seafloor depth: -1092.221541 # behavior reson { duration = 6; MB_Range = 171.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 100.197924 meters # Minimum depth: 1092.330772 meters looking forward 200.000000 meters along route # Maximum depth: 1100.158713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.330772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761345; longitude = -121.857077; duration = 400; initialDepth = 1056.244977; finalDepth = 1052.330772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.7124679999999 # Actual altitude: 44.7124679999999 # Commanded vehicle depth: 1052.330772 # Seafloor depth: -1097.043240 # behavior reson { duration = 6; MB_Range = 178.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 178.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 138 # Segment length 159.672694 meters # Minimum depth: 1096.244977 meters looking forward 200.000000 meters along route # Maximum depth: 1100.158713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.244977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761997; longitude = -121.857844; duration = 638; # abortOnTimeout = True; initialDepth = 1056.327089; finalDepth = 1056.244977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.7124679999999 # Actual altitude: 44.7124679999999 # Commanded vehicle depth: 1056.244977 # Seafloor depth: -1099.943115 # behavior reson { duration = 6; MB_Range = 178.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 178.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 137 # Segment length 119.474403 meters # Minimum depth: 1096.327089 meters looking forward 200.000000 meters along route # Maximum depth: 1101.797537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.327089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763110; longitude = -121.858964; duration = 477; # abortOnTimeout = True; initialDepth = 1059.310203; finalDepth = 1056.327089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.698138 # Actual altitude: 43.698138 # Commanded vehicle depth: 1056.327089 # Seafloor depth: -1098.587036 # behavior reson { duration = 6; MB_Range = 174.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 174.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 103.852335 meters # Minimum depth: 1099.310203 meters looking forward 200.000000 meters along route # Maximum depth: 1101.885574 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.310203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763751; longitude = -121.860026; duration = 415; # abortOnTimeout = True; initialDepth = 1060.276068; finalDepth = 1059.310203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.4998860000001 # Actual altitude: 42.4998860000001 # Commanded vehicle depth: 1059.310203 # Seafloor depth: -1101.810089 # behavior reson { duration = 6; MB_Range = 170.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 170.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 78.133851 meters # Minimum depth: 1100.276068 meters looking forward 200.000000 meters along route # Maximum depth: 1103.466934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.276068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763928; longitude = -121.861154; duration = 312; # abortOnTimeout = True; initialDepth = 1060.962367; finalDepth = 1060.276068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.4998860000001 # Actual altitude: 42.4998860000001 # Commanded vehicle depth: 1060.276068 # Seafloor depth: -1101.210510 # behavior reson { duration = 6; MB_Range = 170.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 170.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 134 # Segment length 111.915364 meters # Minimum depth: 1100.962367 meters looking forward 200.000000 meters along route # Maximum depth: 1106.598666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.962367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763788; longitude = -121.862001; duration = 447; # abortOnTimeout = True; initialDepth = 1065.282848; finalDepth = 1060.962367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.5524339999999 # Actual altitude: 42.5524339999999 # Commanded vehicle depth: 1060.962367 # Seafloor depth: -1103.514801 # behavior reson { duration = 6; MB_Range = 170.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 166.241950 meters # Minimum depth: 1105.282848 meters looking forward 200.000000 meters along route # Maximum depth: 1109.300863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1065.282848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764216; longitude = -121.863122; duration = 664; # abortOnTimeout = True; initialDepth = 1068.473304; finalDepth = 1065.282848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5524339999999 # Actual altitude: 42.5524339999999 # Commanded vehicle depth: 1065.282848 # Seafloor depth: -1106.707703 # behavior reson { duration = 6; MB_Range = 170.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 102.423574 meters # Minimum depth: 1108.473304 meters looking forward 200.000000 meters along route # Maximum depth: 1110.430689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1068.473304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765329; longitude = -121.864354; duration = 409; initialDepth = 1069.195821; finalDepth = 1068.473304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.424855 # Actual altitude: 41.424855 # Commanded vehicle depth: 1068.473304 # Seafloor depth: -1109.255153 # behavior reson { duration = 6; MB_Range = 165.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 165.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 101.393469 meters # Minimum depth: 1109.195821 meters looking forward 200.000000 meters along route # Maximum depth: 1111.970701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1069.195821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766014; longitude = -121.865113; duration = 405; initialDepth = 1070.286805; finalDepth = 1069.195821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.142509 # Actual altitude: 41.142509 # Commanded vehicle depth: 1069.195821 # Seafloor depth: -1110.338330 # behavior reson { duration = 6; MB_Range = 164.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 164.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 132 # Segment length 145.052746 meters # Minimum depth: 1110.286805 meters looking forward 200.000000 meters along route # Maximum depth: 1114.577307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1070.286805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766693; longitude = -121.865864; duration = 580; # abortOnTimeout = True; initialDepth = 1072.991600; finalDepth = 1070.286805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7532650000001 # Actual altitude: 41.7532650000001 # Commanded vehicle depth: 1070.286805 # Seafloor depth: -1112.040070 # behavior reson { duration = 6; MB_Range = 167.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 167.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 132 # Segment length 100.018379 meters # Minimum depth: 1112.991600 meters looking forward 200.000000 meters along route # Maximum depth: 1116.954440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.991600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767761; longitude = -121.866789; duration = 400; initialDepth = 1074.551916; finalDepth = 1072.991600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7532650000001 # Actual altitude: 41.7532650000001 # Commanded vehicle depth: 1072.9916 # Seafloor depth: -1114.418087 # behavior reson { duration = 6; MB_Range = 167.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 167.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 101.143871 meters # Minimum depth: 1114.551916 meters looking forward 200.000000 meters along route # Maximum depth: 1117.619105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1074.551916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768498; longitude = -121.867427; duration = 404; initialDepth = 1076.992319; finalDepth = 1074.551916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3954550000001 # Actual altitude: 42.3954550000001 # Commanded vehicle depth: 1074.551916 # Seafloor depth: -1116.947371 # behavior reson { duration = 6; MB_Range = 169.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 101.120726 meters # Minimum depth: 1116.992319 meters looking forward 200.000000 meters along route # Maximum depth: 1118.452294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.992319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769243; longitude = -121.868072; duration = 404; initialDepth = 1077.788756; finalDepth = 1076.992319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.3954550000001 # Actual altitude: 42.3954550000001 # Commanded vehicle depth: 1076.992319 # Seafloor depth: -1117.621910 # behavior reson { duration = 6; MB_Range = 169.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 131 # Segment length 130.909160 meters # Minimum depth: 1117.788756 meters looking forward 200.000000 meters along route # Maximum depth: 1119.345480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1077.788756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769988; longitude = -121.868717; duration = 523; # abortOnTimeout = True; initialDepth = 1078.333614; finalDepth = 1077.788756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.7175 # Actual altitude: 40.7175 # Commanded vehicle depth: 1077.788756 # Seafloor depth: -1118.506256 # behavior reson { duration = 6; MB_Range = 162.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 162.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 131 # Segment length 100.594277 meters # Minimum depth: 1118.333614 meters looking forward 200.000000 meters along route # Maximum depth: 1120.695485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.333614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770851; longitude = -121.869705; duration = 402; initialDepth = 1079.092358; finalDepth = 1078.333614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.7175 # Actual altitude: 40.7175 # Commanded vehicle depth: 1078.333614 # Seafloor depth: -1118.419982 # behavior reson { duration = 6; MB_Range = 162.87; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 162.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 138.062644 meters # Minimum depth: 1119.092358 meters looking forward 200.000000 meters along route # Maximum depth: 1123.576779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1079.092358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771514; longitude = -121.870464; duration = 552; # abortOnTimeout = True; initialDepth = 1083.010327; finalDepth = 1079.092358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.6481819999999 # Actual altitude: 41.6481819999999 # Commanded vehicle depth: 1079.092358 # Seafloor depth: -1120.740540 # behavior reson { duration = 6; MB_Range = 166.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 150.153890 meters # Minimum depth: 1123.010327 meters looking forward 200.000000 meters along route # Maximum depth: 1126.226904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1083.010327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772266; longitude = -121.871681; duration = 600; # abortOnTimeout = True; initialDepth = 1084.485201; finalDepth = 1083.010327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.6481819999999 # Actual altitude: 41.6481819999999 # Commanded vehicle depth: 1083.010327 # Seafloor depth: -1123.082214 # behavior reson { duration = 6; MB_Range = 166.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 128 # Segment length 131.559816 meters # Minimum depth: 1124.485201 meters looking forward 200.000000 meters along route # Maximum depth: 1129.264726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1084.485201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772708; longitude = -121.873251; duration = 526; # abortOnTimeout = True; initialDepth = 1086.338161; finalDepth = 1084.485201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.734678 # Actual altitude: 41.734678 # Commanded vehicle depth: 1084.485201 # Seafloor depth: -1126.219879 # behavior reson { duration = 6; MB_Range = 166.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 166.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 79.343353 meters # Minimum depth: 1126.338161 meters looking forward 200.000000 meters along route # Maximum depth: 1132.125773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1086.338161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773032; longitude = -121.874651; duration = 317; # abortOnTimeout = True; initialDepth = 1088.835101; finalDepth = 1086.338161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.91364 # Actual altitude: 42.91364 # Commanded vehicle depth: 1086.338161 # Seafloor depth: -1129.251801 # behavior reson { duration = 6; MB_Range = 171.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 171.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 127 # Segment length 100.819749 meters # Minimum depth: 1128.835101 meters looking forward 200.000000 meters along route # Maximum depth: 1135.759822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.835101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773125; longitude = -121.875521; duration = 403; initialDepth = 1092.270428; finalDepth = 1088.835101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.3687900000002 # Actual altitude: 43.3687900000002 # Commanded vehicle depth: 1088.835101 # Seafloor depth: -1132.203891 # behavior reson { duration = 6; MB_Range = 173.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 173.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 127 # Segment length 100.819576 meters # Minimum depth: 1132.270428 meters looking forward 200.000000 meters along route # Maximum depth: 1135.883884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1092.270428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773244; longitude = -121.876627; duration = 403; initialDepth = 1095.487826; finalDepth = 1092.270428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5337050000001 # Actual altitude: 43.5337050000001 # Commanded vehicle depth: 1092.270428 # Seafloor depth: -1135.804133 # behavior reson { duration = 6; MB_Range = 174.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 127 # Segment length 101.501344 meters # Minimum depth: 1135.487826 meters looking forward 200.000000 meters along route # Maximum depth: 1137.102099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.487826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773363; longitude = -121.877733; duration = 406; initialDepth = 1095.487826; finalDepth = 1095.487826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.5337050000001 # Actual altitude: 43.5337050000001 # Commanded vehicle depth: 1095.487826 # Seafloor depth: -1135.620540 # behavior reson { duration = 6; MB_Range = 174.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 105.893236 meters # Minimum depth: 1135.487826 meters looking forward 200.000000 meters along route # Maximum depth: 1138.811715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.487826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773482; longitude = -121.878846; duration = 423; # abortOnTimeout = True; initialDepth = 1095.035835; finalDepth = 1095.487826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.675107 # Actual altitude: 41.675107 # Commanded vehicle depth: 1095.487826 # Seafloor depth: -1137.162933 # behavior reson { duration = 6; MB_Range = 166.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.01; MB_Bottom_Detect_Filter_Max_Range = 166.70; 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 125 # Segment length 152.006277 meters # Minimum depth: 1135.035835 meters looking forward 200.000000 meters along route # Maximum depth: 1140.812378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1095.035835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774005; longitude = -121.879826; duration = 608; # abortOnTimeout = True; initialDepth = 1094.515424; finalDepth = 1095.035835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7777330000001 # Actual altitude: 43.7777330000001 # Commanded vehicle depth: 1095.035835 # Seafloor depth: -1138.813568 # behavior reson { duration = 6; MB_Range = 175.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 175.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 100.102342 meters # Minimum depth: 1134.515424 meters looking forward 200.000000 meters along route # Maximum depth: 1140.812378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.515424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775192; longitude = -121.878986; duration = 400; initialDepth = 1094.515424; finalDepth = 1094.515424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.7777330000001 # Actual altitude: 43.7777330000001 # Commanded vehicle depth: 1094.515424 # Seafloor depth: -1135.009152 # behavior reson { duration = 6; MB_Range = 175.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 175.11; 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 124 # Segment length 101.332399 meters # Minimum depth: 1134.515424 meters looking forward 200.000000 meters along route # Maximum depth: 1140.054122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.515424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775974; longitude = -121.878433; duration = 405; # abortOnTimeout = True; initialDepth = 1094.740339; finalDepth = 1094.515424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.4937280000001 # Actual altitude: 40.4937280000001 # Commanded vehicle depth: 1094.515424 # Seafloor depth: -1134.649811 # behavior reson { duration = 6; MB_Range = 161.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 161.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 100.526262 meters # Minimum depth: 1134.740339 meters looking forward 200.000000 meters along route # Maximum depth: 1143.640237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1094.740339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776476; longitude = -121.879369; duration = 402; initialDepth = 1098.421470; finalDepth = 1094.740339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.336491 # Actual altitude: 45.336491 # Commanded vehicle depth: 1094.740339 # Seafloor depth: -1140.076830 # behavior reson { duration = 6; MB_Range = 181.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 181.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.525805 meters # Minimum depth: 1138.421470 meters looking forward 200.000000 meters along route # Maximum depth: 1143.640237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.421470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776975; longitude = -121.880298; duration = 402; initialDepth = 1098.421470; finalDepth = 1098.421470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.336491 # Actual altitude: 45.336491 # Commanded vehicle depth: 1098.42147 # Seafloor depth: -1140.368732 # behavior reson { duration = 6; MB_Range = 181.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 181.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.525349 meters # Minimum depth: 1138.421470 meters looking forward 200.000000 meters along route # Maximum depth: 1141.886511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.421470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777473; longitude = -121.881227; duration = 402; initialDepth = 1098.916483; finalDepth = 1098.421470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9472619999999 # Actual altitude: 41.9472619999999 # Commanded vehicle depth: 1098.42147 # Seafloor depth: -1138.877704 # behavior reson { duration = 6; MB_Range = 167.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 167.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.524893 meters # Minimum depth: 1138.916483 meters looking forward 200.000000 meters along route # Maximum depth: 1147.489253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.916483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777972; longitude = -121.882156; duration = 402; initialDepth = 1102.057501; finalDepth = 1098.916483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.0639289999999 # Actual altitude: 43.0639289999999 # Commanded vehicle depth: 1098.916483 # Seafloor depth: -1141.980412 # behavior reson { duration = 6; MB_Range = 172.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 172.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.524436 meters # Minimum depth: 1142.057501 meters looking forward 200.000000 meters along route # Maximum depth: 1149.689737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.057501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778470; longitude = -121.883085; duration = 402; initialDepth = 1107.744293; finalDepth = 1102.057501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.506218 # Actual altitude: 45.506218 # Commanded vehicle depth: 1102.057501 # Seafloor depth: -1147.563719 # behavior reson { duration = 6; MB_Range = 182.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 182.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.523980 meters # Minimum depth: 1147.744293 meters looking forward 200.000000 meters along route # Maximum depth: 1158.738193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1107.744293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778968; longitude = -121.884014; duration = 402; initialDepth = 1109.960608; finalDepth = 1107.744293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.506218 # Actual altitude: 45.506218 # Commanded vehicle depth: 1107.744293 # Seafloor depth: -1149.862688 # behavior reson { duration = 6; MB_Range = 182.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.30; MB_Bottom_Detect_Filter_Max_Range = 182.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.523524 meters # Minimum depth: 1149.960608 meters looking forward 200.000000 meters along route # Maximum depth: 1158.738193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1109.960608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779467; longitude = -121.884942; duration = 402; initialDepth = 1114.992437; finalDepth = 1109.960608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.641674 # Actual altitude: 48.641674 # Commanded vehicle depth: 1109.960608 # Seafloor depth: -1158.602282 # behavior reson { duration = 6; MB_Range = 194.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 194.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.523068 meters # Minimum depth: 1154.992437 meters looking forward 200.000000 meters along route # Maximum depth: 1160.212448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1114.992437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779965; longitude = -121.885871; duration = 402; initialDepth = 1115.429802; finalDepth = 1114.992437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.641674 # Actual altitude: 48.641674 # Commanded vehicle depth: 1114.992437 # Seafloor depth: -1155.248347 # behavior reson { duration = 6; MB_Range = 194.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 194.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 101.026399 meters # Minimum depth: 1155.429802 meters looking forward 200.000000 meters along route # Maximum depth: 1164.633181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.429802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780463; longitude = -121.886800; duration = 404; initialDepth = 1120.496208; finalDepth = 1115.429802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.906483 # Actual altitude: 44.906483 # Commanded vehicle depth: 1115.429802 # Seafloor depth: -1160.336285 # behavior reson { duration = 6; MB_Range = 179.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 179.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.018368 meters # Minimum depth: 1160.496208 meters looking forward 200.000000 meters along route # Maximum depth: 1164.633181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.496208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780964; longitude = -121.887734; duration = 400; initialDepth = 1123.148768; finalDepth = 1120.496208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.906483 # Actual altitude: 44.906483 # Commanded vehicle depth: 1120.496208 # Seafloor depth: -1163.728320 # behavior reson { duration = 6; MB_Range = 179.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 179.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 100.708924 meters # Minimum depth: 1163.148768 meters looking forward 200.000000 meters along route # Maximum depth: 1170.168848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1123.148768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781460; longitude = -121.888658; duration = 402; initialDepth = 1124.760494; finalDepth = 1123.148768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2321119999999 # Actual altitude: 43.2321119999999 # Commanded vehicle depth: 1123.148768 # Seafloor depth: -1164.698566 # behavior reson { duration = 6; MB_Range = 172.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 172.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 101.153747 meters # Minimum depth: 1164.760494 meters looking forward 200.000000 meters along route # Maximum depth: 1171.682005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1124.760494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781959; longitude = -121.889588; duration = 404; initialDepth = 1130.034414; finalDepth = 1124.760494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.3781899999999 # Actual altitude: 45.3781899999999 # Commanded vehicle depth: 1124.760494 # Seafloor depth: -1170.138684 # behavior reson { duration = 6; MB_Range = 181.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 181.51; 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 123 # Segment length 82.744274 meters # Minimum depth: 1170.034414 meters looking forward 200.000000 meters along route # Maximum depth: 1172.388503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1130.034414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.782461; longitude = -121.890523; duration = 330; # abortOnTimeout = True; initialDepth = 1131.482814; finalDepth = 1130.034414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.3781899999999 # Actual altitude: 45.3781899999999 # Commanded vehicle depth: 1130.034414 # Seafloor depth: -1171.529175 # behavior reson { duration = 6; MB_Range = 181.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 181.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 102.591287 meters # Minimum depth: 1171.482814 meters looking forward 200.000000 meters along route # Maximum depth: 1173.253171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1131.482814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781849; longitude = -121.891046; duration = 410; initialDepth = 1132.340467; finalDepth = 1131.482814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.4947609999999 # Actual altitude: 41.4947609999999 # Commanded vehicle depth: 1131.482814 # Seafloor depth: -1172.388532 # behavior reson { duration = 6; MB_Range = 165.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 165.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 90.312113 meters # Minimum depth: 1172.340467 meters looking forward 200.000000 meters along route # Maximum depth: 1173.307313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1132.340467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.781090; longitude = -121.891695; duration = 361; # abortOnTimeout = True; initialDepth = 1129.398571; finalDepth = 1132.340467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.905718 # Actual altitude: 40.905718 # Commanded vehicle depth: 1132.340467 # Seafloor depth: -1173.239716 # behavior reson { duration = 6; MB_Range = 163.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 163.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 121 # Segment length 154.308902 meters # Minimum depth: 1169.398571 meters looking forward 200.000000 meters along route # Maximum depth: 1173.291069 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1129.398571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.780316; longitude = -121.892005; duration = 617; # abortOnTimeout = True; initialDepth = 1125.744601; finalDepth = 1129.398571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.747089 # Actual altitude: 43.747089 # Commanded vehicle depth: 1129.398571 # Seafloor depth: -1173.145660 # behavior reson { duration = 6; MB_Range = 174.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 174.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 160.244339 meters # Minimum depth: 1165.744601 meters looking forward 200.000000 meters along route # Maximum depth: 1170.641054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1125.744601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778981; longitude = -121.891525; duration = 640; # abortOnTimeout = True; initialDepth = 1122.930604; finalDepth = 1125.744601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.747089 # Actual altitude: 43.747089 # Commanded vehicle depth: 1125.744601 # Seafloor depth: -1169.352417 # behavior reson { duration = 6; MB_Range = 174.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 174.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 100.931516 meters # Minimum depth: 1162.930604 meters looking forward 200.000000 meters along route # Maximum depth: 1168.130727 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1122.930604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777977; longitude = -121.890250; duration = 403; initialDepth = 1120.583202; finalDepth = 1122.930604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.607816 # Actual altitude: 43.607816 # Commanded vehicle depth: 1122.930604 # Seafloor depth: -1165.746398 # behavior reson { duration = 6; MB_Range = 174.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 174.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 119 # Segment length 165.983482 meters # Minimum depth: 1160.583202 meters looking forward 200.000000 meters along route # Maximum depth: 1163.397599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.583202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777345; longitude = -121.889447; duration = 663; # abortOnTimeout = True; initialDepth = 1120.583202; finalDepth = 1120.583202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.8157940000001 # Actual altitude: 42.8157940000001 # Commanded vehicle depth: 1120.583202 # Seafloor depth: -1163.075165 # behavior reson { duration = 6; MB_Range = 171.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 171.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 118 # Segment length 109.094025 meters # Minimum depth: 1160.583202 meters looking forward 200.000000 meters along route # Maximum depth: 1162.178325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.583202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776445; longitude = -121.887980; duration = 436; # abortOnTimeout = True; initialDepth = 1113.636821; finalDepth = 1120.583202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.4919629999999 # Actual altitude: 42.4919629999999 # Commanded vehicle depth: 1120.583202 # Seafloor depth: -1162.147675 # behavior reson { duration = 6; MB_Range = 169.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 169.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 128.605855 meters # Minimum depth: 1153.636821 meters looking forward 200.000000 meters along route # Maximum depth: 1162.157922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1113.636821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775620; longitude = -121.887323; duration = 514; # abortOnTimeout = True; initialDepth = 1112.962651; finalDepth = 1113.636821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.4717909999999 # Actual altitude: 48.4717909999999 # Commanded vehicle depth: 1113.636821 # Seafloor depth: -1162.108612 # behavior reson { duration = 6; MB_Range = 193.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.08; MB_Bottom_Detect_Filter_Max_Range = 193.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 102.164828 meters # Minimum depth: 1152.962651 meters looking forward 200.000000 meters along route # Maximum depth: 1160.376615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1112.962651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775070; longitude = -121.886070; duration = 408; initialDepth = 1110.656767; finalDepth = 1112.962651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.4717909999999 # Actual altitude: 48.4717909999999 # Commanded vehicle depth: 1112.962651 # Seafloor depth: -1153.548335 # behavior reson { duration = 6; MB_Range = 193.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.08; MB_Bottom_Detect_Filter_Max_Range = 193.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 117 # Segment length 100.610876 meters # Minimum depth: 1150.656767 meters looking forward 200.000000 meters along route # Maximum depth: 1153.451880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.656767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774634; longitude = -121.885075; duration = 402; initialDepth = 1110.656767; finalDepth = 1110.656767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.450658 # Actual altitude: 42.450658 # Commanded vehicle depth: 1110.656767 # Seafloor depth: -1153.107425 # behavior reson { duration = 6; MB_Range = 169.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 169.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 69.291101 meters # Minimum depth: 1150.656767 meters looking forward 200.000000 meters along route # Maximum depth: 1153.121664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.656767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774204; longitude = -121.884095; duration = 277; # abortOnTimeout = True; initialDepth = 1110.656767; finalDepth = 1110.656767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.450658 # Actual altitude: 42.450658 # Commanded vehicle depth: 1110.656767 # Seafloor depth: -1151.586639 # behavior reson { duration = 6; MB_Range = 169.80; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 169.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 79.395043 meters # Minimum depth: 1150.656767 meters looking forward 200.000000 meters along route # Maximum depth: 1153.529176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.656767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773902; longitude = -121.883424; duration = 317; # abortOnTimeout = True; initialDepth = 1111.024765; finalDepth = 1110.656767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.9298720000002 # Actual altitude: 40.9298720000002 # Commanded vehicle depth: 1110.656767 # Seafloor depth: -1151.501984 # behavior reson { duration = 6; MB_Range = 163.72; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 163.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 75.658472 meters # Minimum depth: 1151.024765 meters looking forward 200.000000 meters along route # Maximum depth: 1153.529176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.024765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773504; longitude = -121.882694; duration = 302; # abortOnTimeout = True; initialDepth = 1104.015244; finalDepth = 1111.024765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 40.845217 # Actual altitude: 40.845217 # Commanded vehicle depth: 1111.024765 # Seafloor depth: -1151.410797 # behavior reson { duration = 6; MB_Range = 163.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.51; MB_Bottom_Detect_Filter_Max_Range = 163.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 113 # Segment length 74.570198 meters # Minimum depth: 1144.015244 meters looking forward 200.000000 meters along route # Maximum depth: 1153.529176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1104.015244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773231; longitude = -121.881927; duration = 298; # abortOnTimeout = True; initialDepth = 1103.820221; finalDepth = 1104.015244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 49.0703270000001 # Actual altitude: 49.0703270000001 # Commanded vehicle depth: 1104.015244 # Seafloor depth: -1153.085571 # behavior reson { duration = 6; MB_Range = 196.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 196.28; 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 112 # Segment length 55.807714 meters # Minimum depth: 1143.820221 meters looking forward 200.000000 meters along route # Maximum depth: 1153.496834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.820221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772929; longitude = -121.881190; duration = 223; # abortOnTimeout = True; initialDepth = 1103.820221; finalDepth = 1103.820221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 49.0703270000001 # Actual altitude: 49.0703270000001 # Commanded vehicle depth: 1103.820221 # Seafloor depth: -1143.820221 # behavior reson { duration = 6; MB_Range = 196.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 196.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 111 # Segment length 62.809244 meters # Minimum depth: 1143.820221 meters looking forward 200.000000 meters along route # Maximum depth: 1153.335412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.820221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773416; longitude = -121.881035; duration = 251; # abortOnTimeout = True; initialDepth = 1103.820221; finalDepth = 1103.820221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.2845150000001 # Actual altitude: 41.2845150000001 # Commanded vehicle depth: 1103.820221 # Seafloor depth: -1145.104736 # behavior reson { duration = 6; MB_Range = 165.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 165.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 74.873921 meters # Minimum depth: 1143.820221 meters looking forward 200.000000 meters along route # Maximum depth: 1151.654175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1103.820221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773563; longitude = -121.881706; duration = 299; # abortOnTimeout = True; initialDepth = 1110.344566; finalDepth = 1103.820221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 47.5836180000001 # Actual altitude: 47.5836180000001 # Commanded vehicle depth: 1103.820221 # Seafloor depth: -1151.403839 # behavior reson { duration = 6; MB_Range = 190.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 190.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 109 # Segment length 117.028989 meters # Minimum depth: 1150.344566 meters looking forward 200.000000 meters along route # Maximum depth: 1153.727623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.344566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773858; longitude = -121.882451; duration = 468; # abortOnTimeout = True; initialDepth = 1110.792143; finalDepth = 1110.344566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 47.5836180000001 # Actual altitude: 47.5836180000001 # Commanded vehicle depth: 1110.344566 # Seafloor depth: -1151.280396 # behavior reson { duration = 6; MB_Range = 190.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.55; MB_Bottom_Detect_Filter_Max_Range = 190.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 108 # Segment length 95.451629 meters # Minimum depth: 1150.792143 meters looking forward 200.000000 meters along route # Maximum depth: 1153.727623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.792143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774426; longitude = -121.883542; duration = 381; # abortOnTimeout = True; initialDepth = 1110.792143; finalDepth = 1110.792143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.8787550000002 # Actual altitude: 42.8787550000002 # Commanded vehicle depth: 1110.792143 # Seafloor depth: -1153.670898 # behavior reson { duration = 6; MB_Range = 171.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 108.925547 meters # Minimum depth: 1150.792143 meters looking forward 200.000000 meters along route # Maximum depth: 1154.425785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1110.792143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774868; longitude = -121.884448; duration = 435; # abortOnTimeout = True; initialDepth = 1113.371253; finalDepth = 1110.792143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.8787550000002 # Actual altitude: 42.8787550000002 # Commanded vehicle depth: 1110.792143 # Seafloor depth: -1152.490540 # behavior reson { duration = 6; MB_Range = 171.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 151.849651 meters # Minimum depth: 1153.371253 meters looking forward 200.000000 meters along route # Maximum depth: 1158.513424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1113.371253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775332; longitude = -121.885510; duration = 607; # abortOnTimeout = True; initialDepth = 1115.774994; finalDepth = 1113.371253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.6983970000001 # Actual altitude: 41.6983970000001 # Commanded vehicle depth: 1113.371253 # Seafloor depth: -1153.766876 # behavior reson { duration = 6; MB_Range = 166.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 166.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 103.850414 meters # Minimum depth: 1155.774994 meters looking forward 200.000000 meters along route # Maximum depth: 1161.815806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1115.774994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776202; longitude = -121.886807; duration = 415; # abortOnTimeout = True; initialDepth = 1119.988847; finalDepth = 1115.774994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.183777 # Actual altitude: 41.183777 # Commanded vehicle depth: 1115.774994 # Seafloor depth: -1156.958771 # behavior reson { duration = 6; MB_Range = 164.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.71; MB_Bottom_Detect_Filter_Max_Range = 164.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 166.589966 meters # Minimum depth: 1159.988847 meters looking forward 200.000000 meters along route # Maximum depth: 1164.060046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.988847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776799; longitude = -121.887692; duration = 666; # abortOnTimeout = True; initialDepth = 1120.544791; finalDepth = 1119.988847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.903243 # Actual altitude: 41.903243 # Commanded vehicle depth: 1119.988847 # Seafloor depth: -1161.892090 # behavior reson { duration = 6; MB_Range = 167.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 167.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 100.135585 meters # Minimum depth: 1160.544791 meters looking forward 200.000000 meters along route # Maximum depth: 1165.955598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1120.544791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777789; longitude = -121.889078; duration = 400; initialDepth = 1125.533422; finalDepth = 1120.544791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.880339 # Actual altitude: 42.880339 # Commanded vehicle depth: 1120.544791 # Seafloor depth: -1163.425130 # behavior reson { duration = 6; MB_Range = 171.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 163.321902 meters # Minimum depth: 1165.533422 meters looking forward 200.000000 meters along route # Maximum depth: 1169.419099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1125.533422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778384; longitude = -121.889911; duration = 653; # abortOnTimeout = True; initialDepth = 1125.557231; finalDepth = 1125.533422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.880339 # Actual altitude: 42.880339 # Commanded vehicle depth: 1125.533422 # Seafloor depth: -1165.747284 # behavior reson { duration = 6; MB_Range = 171.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 171.52; 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 102 # Segment length 50.931300 meters # Minimum depth: 1165.557231 meters looking forward 200.000000 meters along route # Maximum depth: 1169.641645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1125.557231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779601; longitude = -121.890928; duration = 203; # abortOnTimeout = True; initialDepth = 1125.895652; finalDepth = 1125.557231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.890523 # Actual altitude: 43.890523 # Commanded vehicle depth: 1125.557231 # Seafloor depth: -1169.447754 # behavior reson { duration = 6; MB_Range = 175.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 175.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 160.798663 meters # Minimum depth: 1165.895652 meters looking forward 200.000000 meters along route # Maximum depth: 1169.641645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1125.895652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.779254; longitude = -121.891297; duration = 643; # abortOnTimeout = True; initialDepth = 1123.333564; finalDepth = 1125.895652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.890523 # Actual altitude: 43.890523 # Commanded vehicle depth: 1125.895652 # Seafloor depth: -1169.622772 # behavior reson { duration = 6; MB_Range = 175.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 175.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 97.648167 meters # Minimum depth: 1163.333564 meters looking forward 200.000000 meters along route # Maximum depth: 1168.284138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1123.333564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.778148; longitude = -121.890147; duration = 390; # abortOnTimeout = True; initialDepth = 1121.813686; finalDepth = 1123.333564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.72712 # Actual altitude: 43.72712 # Commanded vehicle depth: 1123.333564 # Seafloor depth: -1165.937683 # behavior reson { duration = 6; MB_Range = 174.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 174.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 89.870883 meters # Minimum depth: 1161.813686 meters looking forward 200.000000 meters along route # Maximum depth: 1165.992788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1121.813686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777573; longitude = -121.889329; duration = 359; # abortOnTimeout = True; initialDepth = 1119.514110; finalDepth = 1121.813686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.6041190000001 # Actual altitude: 42.6041190000001 # Commanded vehicle depth: 1121.813686 # Seafloor depth: -1163.524902 # behavior reson { duration = 6; MB_Range = 170.42; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 170.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 158.245199 meters # Minimum depth: 1159.514110 meters looking forward 200.000000 meters along route # Maximum depth: 1163.520870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1119.514110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.777043; longitude = -121.888577; duration = 632; # abortOnTimeout = True; initialDepth = 1117.171108; finalDepth = 1119.514110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.1922499999998 # Actual altitude: 42.1922499999998 # Commanded vehicle depth: 1119.51411 # Seafloor depth: -1161.706360 # behavior reson { duration = 6; MB_Range = 168.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 113.129811 meters # Minimum depth: 1157.171108 meters looking forward 200.000000 meters along route # Maximum depth: 1162.703606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1117.171108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.776180; longitude = -121.887183; duration = 452; # abortOnTimeout = True; initialDepth = 1113.666688; finalDepth = 1117.171108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.3386579999999 # Actual altitude: 42.3386579999999 # Commanded vehicle depth: 1117.171108 # Seafloor depth: -1159.509766 # behavior reson { duration = 6; MB_Range = 169.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 120.132670 meters # Minimum depth: 1153.666688 meters looking forward 200.000000 meters along route # Maximum depth: 1158.576497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1113.666688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.775517; longitude = -121.886232; duration = 480; # abortOnTimeout = True; initialDepth = 1111.186277; finalDepth = 1113.666688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.3755180000001 # Actual altitude: 43.3755180000001 # Commanded vehicle depth: 1113.666688 # Seafloor depth: -1157.042206 # behavior reson { duration = 6; MB_Range = 173.50; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 173.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 96.033981 meters # Minimum depth: 1151.186277 meters looking forward 200.000000 meters along route # Maximum depth: 1155.564225 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.186277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774934; longitude = -121.885112; duration = 384; # abortOnTimeout = True; initialDepth = 1111.186277; finalDepth = 1111.186277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.3755180000001 # Actual altitude: 43.3755180000001 # Commanded vehicle depth: 1111.186277 # Seafloor depth: -1154.191803 # behavior reson { duration = 6; MB_Range = 173.50; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 173.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 67.378403 meters # Minimum depth: 1151.186277 meters looking forward 200.000000 meters along route # Maximum depth: 1154.536446 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.186277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774514; longitude = -121.884183; duration = 269; # abortOnTimeout = True; initialDepth = 1111.186277; finalDepth = 1111.186277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.0055259999999 # Actual altitude: 43.0055259999999 # Commanded vehicle depth: 1111.186277 # Seafloor depth: -1151.235413 # behavior reson { duration = 6; MB_Range = 172.02; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 172.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 105.607364 meters # Minimum depth: 1151.186277 meters looking forward 200.000000 meters along route # Maximum depth: 1154.219996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.186277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.774204; longitude = -121.883542; duration = 422; # abortOnTimeout = True; initialDepth = 1111.059151; finalDepth = 1111.186277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.228396 # Actual altitude: 42.228396 # Commanded vehicle depth: 1111.186277 # Seafloor depth: -1153.414673 # behavior reson { duration = 6; MB_Range = 168.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 168.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 103.100207 meters # Minimum depth: 1151.059151 meters looking forward 200.000000 meters along route # Maximum depth: 1154.219996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1111.059151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773651; longitude = -121.882591; duration = 412; # abortOnTimeout = True; initialDepth = 1102.061059; finalDepth = 1111.059151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.228396 # Actual altitude: 42.228396 # Commanded vehicle depth: 1111.059151 # Seafloor depth: -1152.411377 # behavior reson { duration = 6; MB_Range = 168.91; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 168.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 119.213547 meters # Minimum depth: 1142.061059 meters looking forward 200.000000 meters along route # Maximum depth: 1153.541915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1102.061059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773327; longitude = -121.881522; duration = 476; # abortOnTimeout = True; initialDepth = 1098.509412; finalDepth = 1102.061059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 48.8161690000002 # Actual altitude: 48.8161690000002 # Commanded vehicle depth: 1102.061059 # Seafloor depth: -1150.877228 # behavior reson { duration = 6; MB_Range = 195.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 195.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 131.275985 meters # Minimum depth: 1138.509412 meters looking forward 200.000000 meters along route # Maximum depth: 1145.411310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1098.509412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.773172; longitude = -121.880217; duration = 525; # abortOnTimeout = True; initialDepth = 1097.012424; finalDepth = 1098.509412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.8161690000002 # Actual altitude: 48.8161690000002 # Commanded vehicle depth: 1098.509412 # Seafloor depth: -1143.777985 # behavior reson { duration = 6; MB_Range = 195.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 195.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 102.031417 meters # Minimum depth: 1137.012424 meters looking forward 200.000000 meters along route # Maximum depth: 1145.411310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.012424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772935; longitude = -121.878794; duration = 408; initialDepth = 1097.012424; finalDepth = 1097.012424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.2685729999998 # Actual altitude: 45.2685729999998 # Commanded vehicle depth: 1097.012424 # Seafloor depth: -1138.435827 # behavior reson { duration = 6; MB_Range = 181.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 181.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 100.717239 meters # Minimum depth: 1137.012424 meters looking forward 200.000000 meters along route # Maximum depth: 1142.701598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1097.012424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772750; longitude = -121.877689; duration = 402; initialDepth = 1091.863892; finalDepth = 1097.012424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.782013 # Actual altitude: 41.782013 # Commanded vehicle depth: 1097.012424 # Seafloor depth: -1138.794437 # behavior reson { duration = 6; MB_Range = 167.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 167.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 157.185116 meters # Minimum depth: 1131.863892 meters looking forward 200.000000 meters along route # Maximum depth: 1142.701598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1091.863892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772568; longitude = -121.876597; duration = 628; # abortOnTimeout = True; initialDepth = 1088.673526; finalDepth = 1091.863892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.351226 # Actual altitude: 50.351226 # Commanded vehicle depth: 1091.863892 # Seafloor depth: -1142.215118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 100.491677 meters # Minimum depth: 1128.673526 meters looking forward 200.000000 meters along route # Maximum depth: 1137.068370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1088.673526 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772252; longitude = -121.874902; duration = 401; initialDepth = 1087.388323; finalDepth = 1088.673526; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.351226 # Actual altitude: 50.351226 # Commanded vehicle depth: 1088.673526 # Seafloor depth: -1132.083693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 101.853654 meters # Minimum depth: 1127.388323 meters looking forward 200.000000 meters along route # Maximum depth: 1132.788159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1087.388323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.772050; longitude = -121.873818; duration = 407; initialDepth = 1085.580139; finalDepth = 1087.388323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.410167 # Actual altitude: 43.410167 # Commanded vehicle depth: 1087.388323 # Seafloor depth: -1128.658856 # behavior reson { duration = 6; MB_Range = 173.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 173.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 156.855109 meters # Minimum depth: 1125.580139 meters looking forward 200.000000 meters along route # Maximum depth: 1130.548535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1085.580139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771845; longitude = -121.872720; duration = 627; # abortOnTimeout = True; initialDepth = 1081.485269; finalDepth = 1085.580139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.74234 # Actual altitude: 41.74234 # Commanded vehicle depth: 1085.580139 # Seafloor depth: -1127.322479 # behavior reson { duration = 6; MB_Range = 166.97; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 166.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 137.521003 meters # Minimum depth: 1121.485269 meters looking forward 200.000000 meters along route # Maximum depth: 1129.212401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.485269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.771130; longitude = -121.871223; duration = 550; # abortOnTimeout = True; initialDepth = 1081.302478; finalDepth = 1081.485269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.1783660000001 # Actual altitude: 45.1783660000001 # Commanded vehicle depth: 1081.485269 # Seafloor depth: -1126.663635 # behavior reson { duration = 6; MB_Range = 180.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 180.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 101.230259 meters # Minimum depth: 1121.302478 meters looking forward 200.000000 meters along route # Maximum depth: 1124.275833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1081.302478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.770238; longitude = -121.870166; duration = 404; initialDepth = 1078.566123; finalDepth = 1081.302478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 45.1783660000001 # Actual altitude: 45.1783660000001 # Commanded vehicle depth: 1081.302478 # Seafloor depth: -1121.483000 # behavior reson { duration = 6; MB_Range = 180.71; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 180.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 158.072304 meters # Minimum depth: 1118.566123 meters looking forward 200.000000 meters along route # Maximum depth: 1122.782964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1078.566123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769582; longitude = -121.869388; duration = 632; # abortOnTimeout = True; initialDepth = 1076.580821; finalDepth = 1078.566123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6672449999999 # Actual altitude: 43.6672449999999 # Commanded vehicle depth: 1078.566123 # Seafloor depth: -1122.233368 # behavior reson { duration = 6; MB_Range = 174.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 174.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 86 # Segment length 102.037559 meters # Minimum depth: 1116.580821 meters looking forward 200.000000 meters along route # Maximum depth: 1122.160338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.580821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768447; longitude = -121.868331; duration = 408; initialDepth = 1076.250116; finalDepth = 1076.580821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6672449999999 # Actual altitude: 43.6672449999999 # Commanded vehicle depth: 1076.580821 # Seafloor depth: -1118.568058 # behavior reson { duration = 6; MB_Range = 174.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 174.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 102.495320 meters # Minimum depth: 1116.250116 meters looking forward 200.000000 meters along route # Maximum depth: 1118.896711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1076.250116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767714; longitude = -121.867648; duration = 409; initialDepth = 1075.430847; finalDepth = 1076.250116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9872370000001 # Actual altitude: 41.9872370000001 # Commanded vehicle depth: 1076.250116 # Seafloor depth: -1116.569274 # behavior reson { duration = 6; MB_Range = 167.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 167.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 101.449409 meters # Minimum depth: 1115.430847 meters looking forward 200.000000 meters along route # Maximum depth: 1119.158210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1075.430847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766978; longitude = -121.866963; duration = 405; initialDepth = 1073.920377; finalDepth = 1075.430847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.490139 # Actual altitude: 43.490139 # Commanded vehicle depth: 1075.430847 # Seafloor depth: -1118.920986 # behavior reson { duration = 6; MB_Range = 173.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 173.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 125.098080 meters # Minimum depth: 1113.920377 meters looking forward 200.000000 meters along route # Maximum depth: 1118.774490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1073.920377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766250; longitude = -121.866284; duration = 500; # abortOnTimeout = True; initialDepth = 1073.920377; finalDepth = 1073.920377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.490139 # Actual altitude: 43.490139 # Commanded vehicle depth: 1073.920377 # Seafloor depth: -1115.420135 # behavior reson { duration = 6; MB_Range = 173.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 173.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 101.080614 meters # Minimum depth: 1113.920377 meters looking forward 200.000000 meters along route # Maximum depth: 1118.557439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1073.920377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765436; longitude = -121.865326; duration = 404; initialDepth = 1072.656167; finalDepth = 1073.920377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.127571 # Actual altitude: 44.127571 # Commanded vehicle depth: 1073.920377 # Seafloor depth: -1118.047948 # behavior reson { duration = 6; MB_Range = 176.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 176.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 100.162610 meters # Minimum depth: 1112.656167 meters looking forward 200.000000 meters along route # Maximum depth: 1118.557439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1072.656167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764779; longitude = -121.864552; duration = 400; initialDepth = 1071.880393; finalDepth = 1072.656167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.127571 # Actual altitude: 44.127571 # Commanded vehicle depth: 1072.656167 # Seafloor depth: -1116.035917 # behavior reson { duration = 6; MB_Range = 176.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 176.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 77.426991 meters # Minimum depth: 1111.880393 meters looking forward 200.000000 meters along route # Maximum depth: 1116.643583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1071.880393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764127; longitude = -121.863785; duration = 309; # abortOnTimeout = True; initialDepth = 1067.393932; finalDepth = 1071.880393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.3797499999998 # Actual altitude: 43.3797499999998 # Commanded vehicle depth: 1071.880393 # Seafloor depth: -1112.595154 # behavior reson { duration = 6; MB_Range = 173.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 173.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 100.201931 meters # Minimum depth: 1107.393932 meters looking forward 200.000000 meters along route # Maximum depth: 1113.656887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1067.393932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763632; longitude = -121.863181; duration = 400; initialDepth = 1066.918177; finalDepth = 1067.393932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 46.2323860000001 # Actual altitude: 46.2323860000001 # Commanded vehicle depth: 1067.393932 # Seafloor depth: -1113.626318 # behavior reson { duration = 6; MB_Range = 184.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 184.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 79.717828 meters # Minimum depth: 1106.918177 meters looking forward 200.000000 meters along route # Maximum depth: 1113.656887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.918177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762992; longitude = -121.862399; duration = 318; # abortOnTimeout = True; initialDepth = 1064.932999; finalDepth = 1066.918177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.2323860000001 # Actual altitude: 46.2323860000001 # Commanded vehicle depth: 1066.918177 # Seafloor depth: -1107.341644 # behavior reson { duration = 6; MB_Range = 184.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 184.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 100.777031 meters # Minimum depth: 1104.932999 meters looking forward 200.000000 meters along route # Maximum depth: 1109.412473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.932999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762709; longitude = -121.861589; duration = 403; initialDepth = 1059.632832; finalDepth = 1064.932999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.3872179999998 # Actual altitude: 44.3872179999998 # Commanded vehicle depth: 1064.932999 # Seafloor depth: -1109.320217 # behavior reson { duration = 6; MB_Range = 177.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 177.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 89.465289 meters # Minimum depth: 1099.632832 meters looking forward 200.000000 meters along route # Maximum depth: 1109.412473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.632832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762351; longitude = -121.860564; duration = 357; # abortOnTimeout = True; initialDepth = 1056.921766; finalDepth = 1059.632832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.2213549999999 # Actual altitude: 45.2213549999999 # Commanded vehicle depth: 1059.632832 # Seafloor depth: -1104.854187 # behavior reson { duration = 6; MB_Range = 180.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 100.105115 meters # Minimum depth: 1096.921766 meters looking forward 200.000000 meters along route # Maximum depth: 1105.333274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.921766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761613; longitude = -121.860164; duration = 400; initialDepth = 1052.944122; finalDepth = 1056.921766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 45.2213549999999 # Actual altitude: 45.2213549999999 # Commanded vehicle depth: 1056.921766 # Seafloor depth: -1099.469353 # behavior reson { duration = 6; MB_Range = 180.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 154.023927 meters # Minimum depth: 1092.944122 meters looking forward 200.000000 meters along route # Maximum depth: 1097.433398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.944122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760788; longitude = -121.859716; duration = 616; # abortOnTimeout = True; initialDepth = 1049.930757; finalDepth = 1052.944122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.3298339999999 # Actual altitude: 44.3298339999999 # Commanded vehicle depth: 1052.944122 # Seafloor depth: -1097.273956 # behavior reson { duration = 6; MB_Range = 177.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 177.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 101.093587 meters # Minimum depth: 1089.930757 meters looking forward 200.000000 meters along route # Maximum depth: 1096.478031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.930757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759822; longitude = -121.858492; duration = 404; initialDepth = 1049.930757; finalDepth = 1049.930757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.3298339999999 # Actual altitude: 44.3298339999999 # Commanded vehicle depth: 1049.930757 # Seafloor depth: -1092.942899 # behavior reson { duration = 6; MB_Range = 177.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 177.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 171.105507 meters # Minimum depth: 1089.930757 meters looking forward 200.000000 meters along route # Maximum depth: 1095.083203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.930757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759188; longitude = -121.857689; duration = 684; # abortOnTimeout = True; initialDepth = 1050.292143; finalDepth = 1049.930757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.0121419999998 # Actual altitude: 43.0121419999998 # Commanded vehicle depth: 1049.930757 # Seafloor depth: -1090.550385 # behavior reson { duration = 6; MB_Range = 172.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 172.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 166.931737 meters # Minimum depth: 1090.292143 meters looking forward 200.000000 meters along route # Maximum depth: 1095.990555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.292143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758414; longitude = -121.856052; duration = 667; # abortOnTimeout = True; initialDepth = 1048.138951; finalDepth = 1050.292143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.857424 # Actual altitude: 44.857424 # Commanded vehicle depth: 1050.292143 # Seafloor depth: -1095.149567 # behavior reson { duration = 6; MB_Range = 179.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 179.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 75.126233 meters # Minimum depth: 1088.138951 meters looking forward 200.000000 meters along route # Maximum depth: 1095.824842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.138951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757271; longitude = -121.854851; duration = 300; # abortOnTimeout = True; initialDepth = 1044.125973; finalDepth = 1048.138951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.857424 # Actual altitude: 44.857424 # Commanded vehicle depth: 1048.138951 # Seafloor depth: -1090.251221 # behavior reson { duration = 6; MB_Range = 179.43; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 179.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 101.644846 meters # Minimum depth: 1084.125973 meters looking forward 200.000000 meters along route # Maximum depth: 1091.182154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.125973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756826; longitude = -121.854224; duration = 406; initialDepth = 1037.838434; finalDepth = 1044.125973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.082504 # Actual altitude: 44.082504 # Commanded vehicle depth: 1044.125973 # Seafloor depth: -1088.208477 # behavior reson { duration = 6; MB_Range = 176.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 176.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 146.641535 meters # Minimum depth: 1077.838434 meters looking forward 200.000000 meters along route # Maximum depth: 1086.557882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.838434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756225; longitude = -121.853376; duration = 586; # abortOnTimeout = True; initialDepth = 1037.655159; finalDepth = 1037.838434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 46.235815 # Actual altitude: 46.235815 # Commanded vehicle depth: 1037.838434 # Seafloor depth: -1084.074249 # behavior reson { duration = 6; MB_Range = 184.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 184.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 114.125150 meters # Minimum depth: 1077.655159 meters looking forward 200.000000 meters along route # Maximum depth: 1080.773534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.655159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755701; longitude = -121.851887; duration = 456; # abortOnTimeout = True; initialDepth = 1035.522223; finalDepth = 1037.655159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.235815 # Actual altitude: 46.235815 # Commanded vehicle depth: 1037.655159 # Seafloor depth: -1078.358856 # behavior reson { duration = 6; MB_Range = 184.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.74; MB_Bottom_Detect_Filter_Max_Range = 184.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 100.857817 meters # Minimum depth: 1075.522223 meters looking forward 200.000000 meters along route # Maximum depth: 1080.773534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.522223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755251; longitude = -121.850752; duration = 403; initialDepth = 1033.232986; finalDepth = 1035.522223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.033025 # Actual altitude: 42.033025 # Commanded vehicle depth: 1035.522223 # Seafloor depth: -1077.555248 # behavior reson { duration = 6; MB_Range = 168.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 168.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 158.470205 meters # Minimum depth: 1073.232986 meters looking forward 200.000000 meters along route # Maximum depth: 1077.375502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1033.232986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754853; longitude = -121.849749; duration = 633; # abortOnTimeout = True; initialDepth = 1032.224205; finalDepth = 1033.232986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.248398 # Actual altitude: 42.248398 # Commanded vehicle depth: 1033.232986 # Seafloor depth: -1075.481384 # behavior reson { duration = 6; MB_Range = 168.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 168.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 101.993789 meters # Minimum depth: 1072.224205 meters looking forward 200.000000 meters along route # Maximum depth: 1076.276883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.224205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754490; longitude = -121.848054; duration = 407; initialDepth = 1026.767010; finalDepth = 1032.224205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.248398 # Actual altitude: 42.248398 # Commanded vehicle depth: 1032.224205 # Seafloor depth: -1073.145677 # behavior reson { duration = 6; MB_Range = 168.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 168.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 151.810587 meters # Minimum depth: 1066.767010 meters looking forward 200.000000 meters along route # Maximum depth: 1075.640240 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1026.767010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754256; longitude = -121.846963; duration = 607; # abortOnTimeout = True; initialDepth = 1025.771777; finalDepth = 1026.767010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.8033639999999 # Actual altitude: 48.8033639999999 # Commanded vehicle depth: 1026.76701 # Seafloor depth: -1075.570374 # behavior reson { duration = 6; MB_Range = 195.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.28; MB_Bottom_Detect_Filter_Max_Range = 195.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 101.650647 meters # Minimum depth: 1065.771777 meters looking forward 200.000000 meters along route # Maximum depth: 1071.203995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.771777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754367; longitude = -121.845290; duration = 406; initialDepth = 1023.731452; finalDepth = 1025.771777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 48.8033639999999 # Actual altitude: 48.8033639999999 # Commanded vehicle depth: 1025.771777 # Seafloor depth: -1066.785173 # behavior reson { duration = 6; MB_Range = 195.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.28; MB_Bottom_Detect_Filter_Max_Range = 195.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 100.669053 meters # Minimum depth: 1063.731452 meters looking forward 200.000000 meters along route # Maximum depth: 1069.324056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.731452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754441; longitude = -121.844169; duration = 402; # abortOnTimeout = True; initialDepth = 1023.713093; finalDepth = 1023.731452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0074090000001 # Actual altitude: 42.0074090000001 # Commanded vehicle depth: 1023.731452 # Seafloor depth: -1065.738861 # behavior reson { duration = 6; MB_Range = 168.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 168.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.669198 meters # Minimum depth: 1063.713093 meters looking forward 200.000000 meters along route # Maximum depth: 1066.386997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.713093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754260; longitude = -121.843078; duration = 402; initialDepth = 1024.820382; finalDepth = 1023.713093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.0074090000001 # Actual altitude: 42.0074090000001 # Commanded vehicle depth: 1023.713093 # Seafloor depth: -1063.765170 # behavior reson { duration = 6; MB_Range = 168.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 168.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 169.112094 meters # Minimum depth: 1064.820382 meters looking forward 200.000000 meters along route # Maximum depth: 1069.340595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1024.820382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754079; longitude = -121.841987; duration = 676; # abortOnTimeout = True; initialDepth = 1021.126955; finalDepth = 1024.820382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.6098239999999 # Actual altitude: 41.6098239999999 # Commanded vehicle depth: 1024.820382 # Seafloor depth: -1066.430206 # behavior reson { duration = 6; MB_Range = 166.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 166.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 148.321806 meters # Minimum depth: 1061.126955 meters looking forward 200.000000 meters along route # Maximum depth: 1068.084509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1021.126955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753069; longitude = -121.840586; duration = 593; # abortOnTimeout = True; initialDepth = 1019.787921; finalDepth = 1021.126955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.1898780000001 # Actual altitude: 44.1898780000001 # Commanded vehicle depth: 1021.126955 # Seafloor depth: -1065.316833 # behavior reson { duration = 6; MB_Range = 176.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 176.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 171.232318 meters # Minimum depth: 1059.787921 meters looking forward 200.000000 meters along route # Maximum depth: 1062.823691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.787921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752001; longitude = -121.839599; duration = 684; # abortOnTimeout = True; initialDepth = 1018.869675; finalDepth = 1019.787921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 44.1898780000001 # Actual altitude: 44.1898780000001 # Commanded vehicle depth: 1019.787921 # Seafloor depth: -1062.773224 # behavior reson { duration = 6; MB_Range = 176.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 176.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 175.970375 meters # Minimum depth: 1058.869675 meters looking forward 200.000000 meters along route # Maximum depth: 1061.487633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1018.869675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750703; longitude = -121.838574; duration = 703; # abortOnTimeout = True; initialDepth = 1016.702827; finalDepth = 1018.869675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.9853029999999 # Actual altitude: 42.9853029999999 # Commanded vehicle depth: 1018.869675 # Seafloor depth: -1061.434326 # behavior reson { duration = 6; MB_Range = 171.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 171.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 142.222463 meters # Minimum depth: 1056.702827 meters looking forward 200.000000 meters along route # Maximum depth: 1061.019771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.702827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749199; longitude = -121.837955; duration = 568; # abortOnTimeout = True; initialDepth = 1015.772852; finalDepth = 1016.702827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.5646510000001 # Actual altitude: 42.5646510000001 # Commanded vehicle depth: 1016.702827 # Seafloor depth: -1058.771759 # behavior reson { duration = 6; MB_Range = 170.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 170.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 101.154596 meters # Minimum depth: 1055.772852 meters looking forward 200.000000 meters along route # Maximum depth: 1058.795425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.772852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748270; longitude = -121.836871; duration = 404; # abortOnTimeout = True; initialDepth = 1015.772852; finalDepth = 1015.772852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 42.0689319999999 # Actual altitude: 42.0689319999999 # Commanded vehicle depth: 1015.772852 # Seafloor depth: -1056.615204 # behavior reson { duration = 6; MB_Range = 168.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 168.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 78.599012 meters # Minimum depth: 1055.772852 meters looking forward 200.000000 meters along route # Maximum depth: 1058.669687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1015.772852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747762; longitude = -121.835942; duration = 314; # abortOnTimeout = True; initialDepth = 1011.946122; finalDepth = 1015.772852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.731665 # Actual altitude: 42.731665 # Commanded vehicle depth: 1015.772852 # Seafloor depth: -1058.504517 # behavior reson { duration = 6; MB_Range = 170.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 170.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 100.264084 meters # Minimum depth: 1051.946122 meters looking forward 200.000000 meters along route # Maximum depth: 1058.669687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.946122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747526; longitude = -121.835122; duration = 401; initialDepth = 1011.946122; finalDepth = 1011.946122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.7739449999999 # Actual altitude: 43.7739449999999 # Commanded vehicle depth: 1011.946122 # Seafloor depth: -1055.720067 # behavior reson { duration = 6; MB_Range = 175.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 175.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 101.092330 meters # Minimum depth: 1051.946122 meters looking forward 200.000000 meters along route # Maximum depth: 1055.526202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.946122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747225; longitude = -121.834077; duration = 404; initialDepth = 1011.946122; finalDepth = 1011.946122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 43.7739449999999 # Actual altitude: 43.7739449999999 # Commanded vehicle depth: 1011.946122 # Seafloor depth: -1051.970529 # behavior reson { duration = 6; MB_Range = 175.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 175.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 90.339734 meters # Minimum depth: 1051.946122 meters looking forward 200.000000 meters along route # Maximum depth: 1055.382743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.946122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746921; longitude = -121.833023; duration = 361; # abortOnTimeout = True; initialDepth = 1008.894683; finalDepth = 1011.946122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.268233 # Actual altitude: 43.268233 # Commanded vehicle depth: 1011.946122 # Seafloor depth: -1055.214355 # behavior reson { duration = 6; MB_Range = 173.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 173.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 101.244334 meters # Minimum depth: 1048.894683 meters looking forward 200.000000 meters along route # Maximum depth: 1055.382743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.894683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746414; longitude = -121.832241; duration = 404; initialDepth = 1008.183118; finalDepth = 1008.894683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.1527160000001 # Actual altitude: 44.1527160000001 # Commanded vehicle depth: 1008.894683 # Seafloor depth: -1053.047399 # behavior reson { duration = 6; MB_Range = 176.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 176.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 100.713773 meters # Minimum depth: 1048.183118 meters looking forward 200.000000 meters along route # Maximum depth: 1052.953853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1008.183118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745845; longitude = -121.831366; duration = 402; initialDepth = 1007.321533; finalDepth = 1008.183118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.1527160000001 # Actual altitude: 44.1527160000001 # Commanded vehicle depth: 1008.183118 # Seafloor depth: -1049.295546 # behavior reson { duration = 6; MB_Range = 176.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.49; MB_Bottom_Detect_Filter_Max_Range = 176.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 65 # Segment length 101.420033 meters # Minimum depth: 1047.321533 meters looking forward 200.000000 meters along route # Maximum depth: 1050.500888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.321533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745280; longitude = -121.830494; duration = 405; initialDepth = 1003.320777; finalDepth = 1007.321533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 41.1124280000001 # Actual altitude: 41.1124280000001 # Commanded vehicle depth: 1007.321533 # Seafloor depth: -1048.111855 # behavior reson { duration = 6; MB_Range = 164.45; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 164.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 94.768444 meters # Minimum depth: 1043.320777 meters looking forward 200.000000 meters along route # Maximum depth: 1048.194952 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.320777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744710; longitude = -121.829617; duration = 379; # abortOnTimeout = True; initialDepth = 1003.073498; finalDepth = 1003.320777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.3201530000001 # Actual altitude: 44.3201530000001 # Commanded vehicle depth: 1003.320777 # Seafloor depth: -1047.640930 # behavior reson { duration = 6; MB_Range = 177.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 177.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 101.485914 meters # Minimum depth: 1043.073498 meters looking forward 200.000000 meters along route # Maximum depth: 1047.666585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.073498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744142; longitude = -121.828834; duration = 405; initialDepth = 1001.404645; finalDepth = 1003.073498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.3201530000001 # Actual altitude: 44.3201530000001 # Commanded vehicle depth: 1003.073498 # Seafloor depth: -1043.313516 # behavior reson { duration = 6; MB_Range = 177.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 177.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 101.703811 meters # Minimum depth: 1041.404645 meters looking forward 200.000000 meters along route # Maximum depth: 1043.571740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1001.404645 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743534; longitude = -121.827995; duration = 406; initialDepth = 997.922300; finalDepth = 1001.404645; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.996946 # Actual altitude: 41.996946 # Commanded vehicle depth: 1001.404645 # Seafloor depth: -1043.401591 # behavior reson { duration = 6; MB_Range = 167.99; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 167.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 100.804353 meters # Minimum depth: 1037.922300 meters looking forward 200.000000 meters along route # Maximum depth: 1043.321163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 997.922300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742925; longitude = -121.827155; duration = 403; initialDepth = 995.502013; finalDepth = 997.922300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.487715 # Actual altitude: 43.487715 # Commanded vehicle depth: 997.9223 # Seafloor depth: -1041.410015 # behavior reson { duration = 6; MB_Range = 173.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 173.95; 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 78.782053 meters # Minimum depth: 1035.502013 meters looking forward 200.000000 meters along route # Maximum depth: 1042.198767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 995.502013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742321; longitude = -121.826322; duration = 315; # abortOnTimeout = True; initialDepth = 995.493195; finalDepth = 995.502013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.487715 # Actual altitude: 43.487715 # Commanded vehicle depth: 995.502013 # Seafloor depth: -1037.883392 # behavior reson { duration = 6; MB_Range = 173.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 173.95; 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 164.875870 meters # Minimum depth: 1035.493195 meters looking forward 200.000000 meters along route # Maximum depth: 1048.191315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 995.493195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.742889; longitude = -121.825799; duration = 659; # abortOnTimeout = True; initialDepth = 999.010104; finalDepth = 995.493195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3813789999999 # Actual altitude: 42.3813789999999 # Commanded vehicle depth: 995.493195 # Seafloor depth: -1035.493195 # behavior reson { duration = 6; MB_Range = 169.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 169.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 100.940930 meters # Minimum depth: 1039.010104 meters looking forward 200.000000 meters along route # Maximum depth: 1048.822062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 999.010104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.743877; longitude = -121.827161; duration = 403; initialDepth = 1004.889663; finalDepth = 999.010104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.240106 # Actual altitude: 49.240106 # Commanded vehicle depth: 999.010104 # Seafloor depth: -1048.250210 # behavior reson { duration = 6; MB_Range = 196.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.54; MB_Bottom_Detect_Filter_Max_Range = 196.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.708828 meters # Minimum depth: 1044.889663 meters looking forward 200.000000 meters along route # Maximum depth: 1048.822062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1004.889663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.744482; longitude = -121.827995; duration = 406; initialDepth = 1002.492684; finalDepth = 1004.889663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.240106 # Actual altitude: 49.240106 # Commanded vehicle depth: 1004.889663 # Seafloor depth: -1047.580226 # behavior reson { duration = 6; MB_Range = 196.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.54; MB_Bottom_Detect_Filter_Max_Range = 196.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.019913 meters # Minimum depth: 1042.492684 meters looking forward 200.000000 meters along route # Maximum depth: 1047.840313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.492684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745091; longitude = -121.828836; duration = 400; initialDepth = 1002.492684; finalDepth = 1002.492684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.6905630000001 # Actual altitude: 42.6905630000001 # Commanded vehicle depth: 1002.492684 # Seafloor depth: -1044.590390 # behavior reson { duration = 6; MB_Range = 170.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 170.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.719880 meters # Minimum depth: 1042.492684 meters looking forward 200.000000 meters along route # Maximum depth: 1045.654507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1002.492684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.745690; longitude = -121.829662; duration = 402; initialDepth = 1003.262035; finalDepth = 1002.492684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.097706 # Actual altitude: 42.097706 # Commanded vehicle depth: 1002.492684 # Seafloor depth: -1043.249954 # behavior reson { duration = 6; MB_Range = 168.39; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 168.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.707494 meters # Minimum depth: 1043.262035 meters looking forward 200.000000 meters along route # Maximum depth: 1046.475901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1003.262035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746294; longitude = -121.830494; duration = 406; initialDepth = 1005.711541; finalDepth = 1003.262035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3900760000001 # Actual altitude: 42.3900760000001 # Commanded vehicle depth: 1003.262035 # Seafloor depth: -1045.652111 # behavior reson { duration = 6; MB_Range = 169.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 169.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.238326 meters # Minimum depth: 1045.711541 meters looking forward 200.000000 meters along route # Maximum depth: 1046.475901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.711541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.746903; longitude = -121.831335; duration = 400; initialDepth = 1005.773662; finalDepth = 1005.711541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3900760000001 # Actual altitude: 42.3900760000001 # Commanded vehicle depth: 1005.711541 # Seafloor depth: -1045.931733 # behavior reson { duration = 6; MB_Range = 169.56; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 169.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.498834 meters # Minimum depth: 1045.773662 meters looking forward 200.000000 meters along route # Maximum depth: 1046.250257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.773662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.747504; longitude = -121.832163; duration = 401; initialDepth = 1005.773662; finalDepth = 1005.773662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.220192 # Actual altitude: 40.220192 # Commanded vehicle depth: 1005.773662 # Seafloor depth: -1045.847443 # behavior reson { duration = 6; MB_Range = 160.88; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 160.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.506421 meters # Minimum depth: 1045.773662 meters looking forward 200.000000 meters along route # Maximum depth: 1046.915128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.773662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748106; longitude = -121.832993; duration = 410; initialDepth = 1005.951150; finalDepth = 1005.773662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.1459279999999 # Actual altitude: 40.1459279999999 # Commanded vehicle depth: 1005.773662 # Seafloor depth: -1045.919590 # behavior reson { duration = 6; MB_Range = 160.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 160.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.905452 meters # Minimum depth: 1045.951150 meters looking forward 200.000000 meters along route # Maximum depth: 1049.036655 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1005.951150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.748720; longitude = -121.833840; duration = 403; initialDepth = 1007.019281; finalDepth = 1005.951150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9835009999999 # Actual altitude: 40.9835009999999 # Commanded vehicle depth: 1005.95115 # Seafloor depth: -1046.934651 # behavior reson { duration = 6; MB_Range = 163.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 163.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.705264 meters # Minimum depth: 1047.019281 meters looking forward 200.000000 meters along route # Maximum depth: 1051.049205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1007.019281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749325; longitude = -121.834674; duration = 406; initialDepth = 1009.134083; finalDepth = 1007.019281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0426539999999 # Actual altitude: 42.0426539999999 # Commanded vehicle depth: 1007.019281 # Seafloor depth: -1049.061935 # behavior reson { duration = 6; MB_Range = 168.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.048347 meters # Minimum depth: 1049.134083 meters looking forward 200.000000 meters along route # Maximum depth: 1052.923504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1009.134083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.749934; longitude = -121.835515; duration = 400; initialDepth = 1011.151862; finalDepth = 1009.134083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.0426539999999 # Actual altitude: 42.0426539999999 # Commanded vehicle depth: 1009.134083 # Seafloor depth: -1051.118839 # behavior reson { duration = 6; MB_Range = 168.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.684410 meters # Minimum depth: 1051.151862 meters looking forward 200.000000 meters along route # Maximum depth: 1053.394171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1011.151862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.750534; longitude = -121.836341; duration = 402; initialDepth = 1012.756279; finalDepth = 1011.151862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9847560000001 # Actual altitude: 41.9847560000001 # Commanded vehicle depth: 1011.151862 # Seafloor depth: -1052.944961 # behavior reson { duration = 6; MB_Range = 167.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 167.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.703929 meters # Minimum depth: 1052.756279 meters looking forward 200.000000 meters along route # Maximum depth: 1053.791828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.756279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751137; longitude = -121.837173; duration = 406; initialDepth = 1012.911678; finalDepth = 1012.756279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.793099 # Actual altitude: 41.793099 # Commanded vehicle depth: 1012.756279 # Seafloor depth: -1052.830746 # behavior reson { duration = 6; MB_Range = 167.17; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.266752 meters # Minimum depth: 1052.911678 meters looking forward 200.000000 meters along route # Maximum depth: 1056.252537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1012.911678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.751746; longitude = -121.838014; duration = 401; initialDepth = 1013.958374; finalDepth = 1012.911678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9802850000001 # Actual altitude: 40.9802850000001 # Commanded vehicle depth: 1012.911678 # Seafloor depth: -1053.891963 # behavior reson { duration = 6; MB_Range = 163.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 163.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.463373 meters # Minimum depth: 1053.958374 meters looking forward 200.000000 meters along route # Maximum depth: 1058.946357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1013.958374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752347; longitude = -121.838842; duration = 401; initialDepth = 1016.383679; finalDepth = 1013.958374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3218669999999 # Actual altitude: 42.3218669999999 # Commanded vehicle depth: 1013.958374 # Seafloor depth: -1056.280241 # behavior reson { duration = 6; MB_Range = 169.29; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.534767 meters # Minimum depth: 1056.383679 meters looking forward 200.000000 meters along route # Maximum depth: 1063.431713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1016.383679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.752949; longitude = -121.839672; duration = 410; initialDepth = 1019.236552; finalDepth = 1016.383679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.592774 # Actual altitude: 42.592774 # Commanded vehicle depth: 1016.383679 # Seafloor depth: -1058.976453 # behavior reson { duration = 6; MB_Range = 170.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 170.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.869977 meters # Minimum depth: 1059.236552 meters looking forward 200.000000 meters along route # Maximum depth: 1066.845432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1019.236552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.753563; longitude = -121.840519; duration = 403; initialDepth = 1023.721748; finalDepth = 1019.236552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.240452 # Actual altitude: 44.240452 # Commanded vehicle depth: 1019.236552 # Seafloor depth: -1063.477004 # behavior reson { duration = 6; MB_Range = 176.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 176.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.701699 meters # Minimum depth: 1063.721748 meters looking forward 200.000000 meters along route # Maximum depth: 1066.845432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1023.721748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754168; longitude = -121.841353; duration = 406; initialDepth = 1025.284466; finalDepth = 1023.721748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.240452 # Actual altitude: 44.240452 # Commanded vehicle depth: 1023.721748 # Seafloor depth: -1066.651987 # behavior reson { duration = 6; MB_Range = 176.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 176.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.076780 meters # Minimum depth: 1065.284466 meters looking forward 200.000000 meters along route # Maximum depth: 1069.510500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.284466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.754777; longitude = -121.842193; duration = 400; initialDepth = 1025.942662; finalDepth = 1025.284466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.930239 # Actual altitude: 42.930239 # Commanded vehicle depth: 1025.284466 # Seafloor depth: -1065.882822 # behavior reson { duration = 6; MB_Range = 171.72; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 171.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.648943 meters # Minimum depth: 1065.942662 meters looking forward 200.000000 meters along route # Maximum depth: 1070.323809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1025.942662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755377; longitude = -121.843020; duration = 402; initialDepth = 1027.161094; finalDepth = 1025.942662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6284930000002 # Actual altitude: 43.6284930000002 # Commanded vehicle depth: 1025.942662 # Seafloor depth: -1069.571155 # behavior reson { duration = 6; MB_Range = 174.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.700365 meters # Minimum depth: 1067.161094 meters looking forward 200.000000 meters along route # Maximum depth: 1070.323809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.161094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.755980; longitude = -121.843852; duration = 406; initialDepth = 1027.161094; finalDepth = 1027.161094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6284930000002 # Actual altitude: 43.6284930000002 # Commanded vehicle depth: 1027.161094 # Seafloor depth: -1067.433822 # behavior reson { duration = 6; MB_Range = 174.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 174.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.295176 meters # Minimum depth: 1067.161094 meters looking forward 200.000000 meters along route # Maximum depth: 1069.857114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1027.161094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.756589; longitude = -121.844692; duration = 401; initialDepth = 1028.852953; finalDepth = 1027.161094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7977100000001 # Actual altitude: 41.7977100000001 # Commanded vehicle depth: 1027.161094 # Seafloor depth: -1068.958804 # behavior reson { duration = 6; MB_Range = 167.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.427915 meters # Minimum depth: 1068.852953 meters looking forward 200.000000 meters along route # Maximum depth: 1071.885632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1028.852953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757190; longitude = -121.845521; duration = 401; initialDepth = 1030.012192; finalDepth = 1028.852953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7977100000001 # Actual altitude: 41.7977100000001 # Commanded vehicle depth: 1028.852953 # Seafloor depth: -1069.876676 # behavior reson { duration = 6; MB_Range = 167.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.563112 meters # Minimum depth: 1070.012192 meters looking forward 200.000000 meters along route # Maximum depth: 1074.854993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1030.012192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.757792; longitude = -121.846351; duration = 410; initialDepth = 1032.163146; finalDepth = 1030.012192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8933420000001 # Actual altitude: 41.8933420000001 # Commanded vehicle depth: 1030.012192 # Seafloor depth: -1071.905534 # behavior reson { duration = 6; MB_Range = 167.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 167.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 100.834505 meters # Minimum depth: 1072.163146 meters looking forward 200.000000 meters along route # Maximum depth: 1074.854993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.163146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.758407; longitude = -121.847199; duration = 403; initialDepth = 1032.983561; finalDepth = 1032.163146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1551869999998 # Actual altitude: 42.1551869999998 # Commanded vehicle depth: 1032.163146 # Seafloor depth: -1074.318333 # behavior reson { duration = 6; MB_Range = 168.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.154735 meters # Minimum depth: 1072.983561 meters looking forward 200.000000 meters along route # Maximum depth: 1074.252876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.983561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759011; longitude = -121.848032; duration = 408; initialDepth = 1032.983561; finalDepth = 1032.983561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1551869999998 # Actual altitude: 42.1551869999998 # Commanded vehicle depth: 1032.983561 # Seafloor depth: -1073.037101 # behavior reson { duration = 6; MB_Range = 168.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 168.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.136041 meters # Minimum depth: 1072.983561 meters looking forward 200.000000 meters along route # Maximum depth: 1076.227715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1032.983561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.759623; longitude = -121.848876; duration = 408; initialDepth = 1034.512219; finalDepth = 1032.983561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.8201670000001 # Actual altitude: 40.8201670000001 # Commanded vehicle depth: 1032.983561 # Seafloor depth: -1073.803728 # behavior reson { duration = 6; MB_Range = 163.28; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 163.28; 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 125.976815 meters # Minimum depth: 1074.512219 meters looking forward 200.000000 meters along route # Maximum depth: 1078.109332 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1034.512219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760235; longitude = -121.849720; duration = 503; # abortOnTimeout = True; initialDepth = 1036.615442; finalDepth = 1034.512219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.674274 # Actual altitude: 41.674274 # Commanded vehicle depth: 1034.512219 # Seafloor depth: -1076.186493 # behavior reson { duration = 6; MB_Range = 166.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 100.975802 meters # Minimum depth: 1076.615442 meters looking forward 200.000000 meters along route # Maximum depth: 1079.865232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.615442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761054; longitude = -121.850686; duration = 403; initialDepth = 1038.205852; finalDepth = 1036.615442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.674274 # Actual altitude: 41.674274 # Commanded vehicle depth: 1036.615442 # Seafloor depth: -1078.191909 # behavior reson { duration = 6; MB_Range = 166.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 166.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.975391 meters # Minimum depth: 1078.205852 meters looking forward 200.000000 meters along route # Maximum depth: 1080.673353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.205852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761710; longitude = -121.851460; duration = 403; initialDepth = 1039.825412; finalDepth = 1038.205852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.64573 # Actual altitude: 41.64573 # Commanded vehicle depth: 1038.205852 # Seafloor depth: -1079.851582 # behavior reson { duration = 6; MB_Range = 166.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.974980 meters # Minimum depth: 1079.825412 meters looking forward 200.000000 meters along route # Maximum depth: 1082.415863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.825412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762366; longitude = -121.852234; duration = 403; initialDepth = 1040.584307; finalDepth = 1039.825412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.64573 # Actual altitude: 41.64573 # Commanded vehicle depth: 1039.825412 # Seafloor depth: -1080.678415 # behavior reson { duration = 6; MB_Range = 166.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.99; MB_Bottom_Detect_Filter_Max_Range = 166.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.974569 meters # Minimum depth: 1080.584307 meters looking forward 200.000000 meters along route # Maximum depth: 1085.409909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.584307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763022; longitude = -121.853008; duration = 403; initialDepth = 1042.537063; finalDepth = 1040.584307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8502369999999 # Actual altitude: 41.8502369999999 # Commanded vehicle depth: 1040.584307 # Seafloor depth: -1082.434544 # behavior reson { duration = 6; MB_Range = 167.40; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 167.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.974158 meters # Minimum depth: 1082.537063 meters looking forward 200.000000 meters along route # Maximum depth: 1088.427659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.537063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763679; longitude = -121.853782; duration = 403; initialDepth = 1045.478266; finalDepth = 1042.537063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.8932159999999 # Actual altitude: 42.8932159999999 # Commanded vehicle depth: 1042.537063 # Seafloor depth: -1085.430279 # behavior reson { duration = 6; MB_Range = 171.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 171.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.881571 meters # Minimum depth: 1085.478266 meters looking forward 200.000000 meters along route # Maximum depth: 1090.324518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.478266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764335; longitude = -121.854556; duration = 407; initialDepth = 1048.530785; finalDepth = 1045.478266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.954168 # Actual altitude: 42.954168 # Commanded vehicle depth: 1045.478266 # Seafloor depth: -1088.432434 # behavior reson { duration = 6; MB_Range = 171.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 171.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.065513 meters # Minimum depth: 1088.530785 meters looking forward 200.000000 meters along route # Maximum depth: 1091.183003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.530785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764997; longitude = -121.855337; duration = 400; initialDepth = 1050.381840; finalDepth = 1048.530785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.954168 # Actual altitude: 42.954168 # Commanded vehicle depth: 1048.530785 # Seafloor depth: -1090.339543 # behavior reson { duration = 6; MB_Range = 171.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 171.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.972926 meters # Minimum depth: 1090.381840 meters looking forward 200.000000 meters along route # Maximum depth: 1092.857042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.381840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765647; longitude = -121.856104; duration = 403; initialDepth = 1051.226190; finalDepth = 1050.381840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8087580000001 # Actual altitude: 41.8087580000001 # Commanded vehicle depth: 1050.38184 # Seafloor depth: -1091.205097 # behavior reson { duration = 6; MB_Range = 167.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 167.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 101.813490 meters # Minimum depth: 1091.226190 meters looking forward 200.000000 meters along route # Maximum depth: 1095.902729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.226190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766304; longitude = -121.856878; duration = 407; initialDepth = 1052.896761; finalDepth = 1051.226190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5857019999999 # Actual altitude: 41.5857019999999 # Commanded vehicle depth: 1051.22619 # Seafloor depth: -1092.811892 # behavior reson { duration = 6; MB_Range = 166.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 166.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.124288 meters # Minimum depth: 1092.896761 meters looking forward 200.000000 meters along route # Maximum depth: 1105.959028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.896761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766965; longitude = -121.857658; duration = 400; initialDepth = 1053.639282; finalDepth = 1052.896761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.1189460000001 # Actual altitude: 43.1189460000001 # Commanded vehicle depth: 1052.896761 # Seafloor depth: -1096.015707 # behavior reson { duration = 6; MB_Range = 172.48; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 172.48; 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 40.008542 meters # Minimum depth: 1093.639282 meters looking forward 200.000000 meters along route # Maximum depth: 1108.391132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.639282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767616; longitude = -121.858426; duration = 160; # abortOnTimeout = True; initialDepth = 1055.378630; finalDepth = 1053.639282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.507965 # Actual altitude: 52.507965 # Commanded vehicle depth: 1053.639282 # Seafloor depth: -1106.147247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 128.529989 meters # Minimum depth: 1095.378630 meters looking forward 200.000000 meters along route # Maximum depth: 1108.394196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.378630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767866; longitude = -121.858107; duration = 514; # abortOnTimeout = True; initialDepth = 1052.220217; finalDepth = 1055.378630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.015566 # Actual altitude: 53.015566 # Commanded vehicle depth: 1055.37863 # Seafloor depth: -1108.394196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 100.925321 meters # Minimum depth: 1092.220217 meters looking forward 200.000000 meters along route # Maximum depth: 1106.940306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.220217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767031; longitude = -121.857121; duration = 403; initialDepth = 1050.800336; finalDepth = 1052.220217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.015566 # Actual altitude: 53.015566 # Commanded vehicle depth: 1052.220217 # Seafloor depth: -1095.373603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.925732 meters # Minimum depth: 1090.800336 meters looking forward 200.000000 meters along route # Maximum depth: 1095.207501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.800336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766375; longitude = -121.856347; duration = 403; initialDepth = 1049.215547; finalDepth = 1050.800336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.153386 # Actual altitude: 43.153386 # Commanded vehicle depth: 1050.800336 # Seafloor depth: -1092.202123 # behavior reson { duration = 6; MB_Range = 172.61; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 172.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.039497 meters # Minimum depth: 1089.215547 meters looking forward 200.000000 meters along route # Maximum depth: 1092.093551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.215547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765720; longitude = -121.855573; duration = 404; initialDepth = 1046.753818; finalDepth = 1049.215547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.5846039999999 # Actual altitude: 41.5846039999999 # Commanded vehicle depth: 1049.215547 # Seafloor depth: -1090.800151 # behavior reson { duration = 6; MB_Range = 166.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 166.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.813200 meters # Minimum depth: 1086.753818 meters looking forward 200.000000 meters along route # Maximum depth: 1090.796133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.753818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765063; longitude = -121.854798; duration = 403; initialDepth = 1043.919233; finalDepth = 1046.753818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.458568 # Actual altitude: 42.458568 # Commanded vehicle depth: 1046.753818 # Seafloor depth: -1089.212386 # behavior reson { duration = 6; MB_Range = 169.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.926964 meters # Minimum depth: 1083.919233 meters looking forward 200.000000 meters along route # Maximum depth: 1089.156296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.919233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764408; longitude = -121.854025; duration = 403; initialDepth = 1041.647266; finalDepth = 1043.919233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7595699999999 # Actual altitude: 42.7595699999999 # Commanded vehicle depth: 1043.919233 # Seafloor depth: -1086.678803 # behavior reson { duration = 6; MB_Range = 171.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 171.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.246286 meters # Minimum depth: 1081.647266 meters looking forward 200.000000 meters along route # Maximum depth: 1086.634760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.647266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763753; longitude = -121.853251; duration = 404; initialDepth = 1041.024271; finalDepth = 1041.647266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7595699999999 # Actual altitude: 42.7595699999999 # Commanded vehicle depth: 1041.647266 # Seafloor depth: -1083.924914 # behavior reson { duration = 6; MB_Range = 171.04; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 171.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.608874 meters # Minimum depth: 1081.024271 meters looking forward 200.000000 meters along route # Maximum depth: 1083.913366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.024271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763095; longitude = -121.852475; duration = 402; initialDepth = 1041.024271; finalDepth = 1041.024271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.277648 # Actual altitude: 42.277648 # Commanded vehicle depth: 1041.024271 # Seafloor depth: -1081.654209 # behavior reson { duration = 6; MB_Range = 169.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 169.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.928196 meters # Minimum depth: 1081.024271 meters looking forward 200.000000 meters along route # Maximum depth: 1081.667966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.024271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762442; longitude = -121.851703; duration = 403; initialDepth = 1041.089151; finalDepth = 1041.024271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.629938 # Actual altitude: 40.629938 # Commanded vehicle depth: 1041.024271 # Seafloor depth: -1081.052010 # behavior reson { duration = 6; MB_Range = 162.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 101.453082 meters # Minimum depth: 1081.089151 meters looking forward 200.000000 meters along route # Maximum depth: 1082.478810 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.089151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761786; longitude = -121.850929; duration = 405; initialDepth = 1041.457747; finalDepth = 1041.089151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.3986650000002 # Actual altitude: 40.3986650000002 # Commanded vehicle depth: 1041.089151 # Seafloor depth: -1081.487816 # behavior reson { duration = 6; MB_Range = 161.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.24; MB_Bottom_Detect_Filter_Max_Range = 161.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.648932 meters # Minimum depth: 1081.457747 meters looking forward 200.000000 meters along route # Maximum depth: 1084.304987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.457747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761127; longitude = -121.850151; duration = 402; initialDepth = 1041.753640; finalDepth = 1041.457747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.0370190000001 # Actual altitude: 41.0370190000001 # Commanded vehicle depth: 1041.457747 # Seafloor depth: -1082.494766 # behavior reson { duration = 6; MB_Range = 164.15; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 164.15; 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 40.010461 meters # Minimum depth: 1081.753640 meters looking forward 200.000000 meters along route # Maximum depth: 1092.593590 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.753640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760473; longitude = -121.849379; duration = 160; # abortOnTimeout = True; initialDepth = 1043.809910; finalDepth = 1041.753640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.2079990000002 # Actual altitude: 42.2079990000002 # Commanded vehicle depth: 1041.75364 # Seafloor depth: -1083.961639 # behavior reson { duration = 6; MB_Range = 168.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.83; 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 128.359097 meters # Minimum depth: 1083.809910 meters looking forward 200.000000 meters along route # Maximum depth: 1094.558097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.809910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760723; longitude = -121.849060; duration = 513; # abortOnTimeout = True; initialDepth = 1049.320660; finalDepth = 1043.809910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.8808860000001 # Actual altitude: 48.8808860000001 # Commanded vehicle depth: 1043.80991 # Seafloor depth: -1092.690796 # behavior reson { duration = 6; MB_Range = 195.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.33; MB_Bottom_Detect_Filter_Max_Range = 195.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.935443 meters # Minimum depth: 1089.320660 meters looking forward 200.000000 meters along route # Maximum depth: 1094.558097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.320660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761557; longitude = -121.850044; duration = 403; initialDepth = 1045.784400; finalDepth = 1049.320660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 48.8808860000001 # Actual altitude: 48.8808860000001 # Commanded vehicle depth: 1049.32066 # Seafloor depth: -1092.453604 # behavior reson { duration = 6; MB_Range = 195.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.33; MB_Bottom_Detect_Filter_Max_Range = 195.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.794651 meters # Minimum depth: 1085.784400 meters looking forward 200.000000 meters along route # Maximum depth: 1092.345304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.784400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762213; longitude = -121.850818; duration = 407; initialDepth = 1042.994672; finalDepth = 1045.784400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5324189999999 # Actual altitude: 43.5324189999999 # Commanded vehicle depth: 1045.7844 # Seafloor depth: -1089.316819 # behavior reson { duration = 6; MB_Range = 174.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.075002 meters # Minimum depth: 1082.994672 meters looking forward 200.000000 meters along route # Maximum depth: 1089.287465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.994672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762874; longitude = -121.851599; duration = 400; initialDepth = 1042.961811; finalDepth = 1042.994672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5324189999999 # Actual altitude: 43.5324189999999 # Commanded vehicle depth: 1042.994672 # Seafloor depth: -1085.746359 # behavior reson { duration = 6; MB_Range = 174.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.934211 meters # Minimum depth: 1082.961811 meters looking forward 200.000000 meters along route # Maximum depth: 1085.630722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.961811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763524; longitude = -121.852366; duration = 403; initialDepth = 1042.961811; finalDepth = 1042.961811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.7516869999999 # Actual altitude: 42.7516869999999 # Commanded vehicle depth: 1042.961811 # Seafloor depth: -1083.013973 # behavior reson { duration = 6; MB_Range = 171.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 171.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.933800 meters # Minimum depth: 1082.961811 meters looking forward 200.000000 meters along route # Maximum depth: 1087.522431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.961811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764180; longitude = -121.853140; duration = 403; initialDepth = 1044.656345; finalDepth = 1042.961811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.6289360000001 # Actual altitude: 41.6289360000001 # Commanded vehicle depth: 1042.961811 # Seafloor depth: -1084.590747 # behavior reson { duration = 6; MB_Range = 166.52; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.98; MB_Bottom_Detect_Filter_Max_Range = 166.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.933389 meters # Minimum depth: 1084.656345 meters looking forward 200.000000 meters along route # Maximum depth: 1090.043683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.656345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764836; longitude = -121.853915; duration = 403; initialDepth = 1047.654286; finalDepth = 1044.656345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9240739999998 # Actual altitude: 42.9240739999998 # Commanded vehicle depth: 1044.656345 # Seafloor depth: -1087.580419 # behavior reson { duration = 6; MB_Range = 171.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 171.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.932978 meters # Minimum depth: 1087.654286 meters looking forward 200.000000 meters along route # Maximum depth: 1092.115369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.654286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765491; longitude = -121.854689; duration = 403; initialDepth = 1050.078563; finalDepth = 1047.654286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9240739999998 # Actual altitude: 42.9240739999998 # Commanded vehicle depth: 1047.654286 # Seafloor depth: -1090.087173 # behavior reson { duration = 6; MB_Range = 171.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 171.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.932568 meters # Minimum depth: 1090.078563 meters looking forward 200.000000 meters along route # Maximum depth: 1094.433708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.078563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766147; longitude = -121.855463; duration = 403; initialDepth = 1052.233021; finalDepth = 1050.078563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4328869999999 # Actual altitude: 42.4328869999999 # Commanded vehicle depth: 1050.078563 # Seafloor depth: -1092.115395 # behavior reson { duration = 6; MB_Range = 169.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.932157 meters # Minimum depth: 1092.233021 meters looking forward 200.000000 meters along route # Maximum depth: 1102.890649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.233021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766803; longitude = -121.856237; duration = 403; initialDepth = 1054.555699; finalDepth = 1052.233021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.1977239999999 # Actual altitude: 42.1977239999999 # Commanded vehicle depth: 1052.233021 # Seafloor depth: -1094.430745 # behavior reson { duration = 6; MB_Range = 168.79; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 168.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.361104 meters # Minimum depth: 1094.555699 meters looking forward 200.000000 meters along route # Maximum depth: 1109.977190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.555699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767458; longitude = -121.857011; duration = 405; initialDepth = 1056.824914; finalDepth = 1054.555699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 48.5020549999999 # Actual altitude: 48.5020549999999 # Commanded vehicle depth: 1054.555699 # Seafloor depth: -1103.057754 # behavior reson { duration = 6; MB_Range = 194.01; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.10; MB_Bottom_Detect_Filter_Max_Range = 194.01; 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 39.943305 meters # Minimum depth: 1096.824914 meters looking forward 200.000000 meters along route # Maximum depth: 1109.977190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.824914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768117; longitude = -121.857788; duration = 159; # abortOnTimeout = True; initialDepth = 1066.644848; finalDepth = 1056.824914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.418036 # Actual altitude: 52.418036 # Commanded vehicle depth: 1056.824914 # Seafloor depth: -1109.242950 # 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; } # ####################################################### # # 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 129.097567 meters # Minimum depth: 1106.644848 meters looking forward 200.000000 meters along route # Maximum depth: 1109.706923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.644848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768367; longitude = -121.857470; duration = 516; # abortOnTimeout = True; initialDepth = 1059.695834; finalDepth = 1066.644848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.418036 # Actual altitude: 52.418036 # Commanded vehicle depth: 1066.644848 # Seafloor depth: -1108.683472 # 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 55 # Segment length 100.926122 meters # Minimum depth: 1099.695834 meters looking forward 200.000000 meters along route # Maximum depth: 1109.635743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.695834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767528; longitude = -121.856480; duration = 403; initialDepth = 1056.959163; finalDepth = 1059.695834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.8410729999998 # Actual altitude: 46.8410729999998 # Commanded vehicle depth: 1059.695834 # Seafloor depth: -1106.536907 # behavior reson { duration = 6; MB_Range = 187.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 187.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.489427 meters # Minimum depth: 1096.959163 meters looking forward 200.000000 meters along route # Maximum depth: 1106.373266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.959163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766873; longitude = -121.855706; duration = 405; initialDepth = 1055.213997; finalDepth = 1056.959163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.8410729999998 # Actual altitude: 46.8410729999998 # Commanded vehicle depth: 1056.959163 # Seafloor depth: -1099.682908 # behavior reson { duration = 6; MB_Range = 187.36; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 187.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.364051 meters # Minimum depth: 1095.213997 meters looking forward 200.000000 meters along route # Maximum depth: 1099.533222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.213997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766213; longitude = -121.854928; duration = 401; initialDepth = 1050.922426; finalDepth = 1055.213997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.723745 # Actual altitude: 42.723745 # Commanded vehicle depth: 1055.213997 # Seafloor depth: -1096.966871 # behavior reson { duration = 6; MB_Range = 170.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 170.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.927354 meters # Minimum depth: 1090.922426 meters looking forward 200.000000 meters along route # Maximum depth: 1097.384981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.922426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765561; longitude = -121.854158; duration = 403; initialDepth = 1048.466474; finalDepth = 1050.922426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2347419999999 # Actual altitude: 44.2347419999999 # Commanded vehicle depth: 1050.922426 # Seafloor depth: -1095.157168 # behavior reson { duration = 6; MB_Range = 176.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 176.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 101.689956 meters # Minimum depth: 1088.466474 meters looking forward 200.000000 meters along route # Maximum depth: 1095.054780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.466474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764906; longitude = -121.853384; duration = 406; initialDepth = 1046.642174; finalDepth = 1048.466474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.2347419999999 # Actual altitude: 44.2347419999999 # Commanded vehicle depth: 1048.466474 # Seafloor depth: -1090.887900 # behavior reson { duration = 6; MB_Range = 176.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 176.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.165986 meters # Minimum depth: 1086.642174 meters looking forward 200.000000 meters along route # Maximum depth: 1090.722852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.642174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764245; longitude = -121.852604; duration = 400; initialDepth = 1046.642174; finalDepth = 1046.642174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4214259999999 # Actual altitude: 42.4214259999999 # Commanded vehicle depth: 1046.642174 # Seafloor depth: -1088.444450 # behavior reson { duration = 6; MB_Range = 169.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 169.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.928587 meters # Minimum depth: 1086.642174 meters looking forward 200.000000 meters along route # Maximum depth: 1091.927528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.642174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763594; longitude = -121.851836; duration = 403; initialDepth = 1050.345923; finalDepth = 1046.642174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6108319999998 # Actual altitude: 43.6108319999998 # Commanded vehicle depth: 1046.642174 # Seafloor depth: -1090.253006 # behavior reson { duration = 6; MB_Range = 174.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 174.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.928997 meters # Minimum depth: 1090.345923 meters looking forward 200.000000 meters along route # Maximum depth: 1096.665214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.345923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762939; longitude = -121.851062; duration = 403; initialDepth = 1051.979423; finalDepth = 1050.345923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.6108319999998 # Actual altitude: 43.6108319999998 # Commanded vehicle depth: 1050.345923 # Seafloor depth: -1091.934458 # behavior reson { duration = 6; MB_Range = 174.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 174.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.929409 meters # Minimum depth: 1091.979423 meters looking forward 200.000000 meters along route # Maximum depth: 1097.804632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.979423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762283; longitude = -121.850288; duration = 403; initialDepth = 1050.605628; finalDepth = 1051.979423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.7842000000001 # Actual altitude: 44.7842000000001 # Commanded vehicle depth: 1051.979423 # Seafloor depth: -1096.763623 # behavior reson { duration = 6; MB_Range = 179.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 179.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 100.738021 meters # Minimum depth: 1090.605628 meters looking forward 200.000000 meters along route # Maximum depth: 1097.804632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.605628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761627; longitude = -121.849514; duration = 402; initialDepth = 1046.468770; finalDepth = 1050.605628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.7842000000001 # Actual altitude: 44.7842000000001 # Commanded vehicle depth: 1050.605628 # Seafloor depth: -1095.001980 # behavior reson { duration = 6; MB_Range = 179.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 179.14; 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 39.945216 meters # Minimum depth: 1086.468770 meters looking forward 200.000000 meters along route # Maximum depth: 1097.700681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.468770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760973; longitude = -121.848741; duration = 159; # abortOnTimeout = True; initialDepth = 1046.305268; finalDepth = 1046.468770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.396352 # Actual altitude: 44.396352 # Commanded vehicle depth: 1046.46877 # Seafloor depth: -1090.501617 # behavior reson { duration = 6; MB_Range = 177.59; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 177.59; 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 125.072268 meters # Minimum depth: 1086.305268 meters looking forward 200.000000 meters along route # Maximum depth: 1091.903185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.305268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761223; longitude = -121.848423; duration = 500; # abortOnTimeout = True; initialDepth = 1046.528333; finalDepth = 1046.305268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.0328469999999 # Actual altitude: 44.0328469999999 # Commanded vehicle depth: 1046.305268 # Seafloor depth: -1086.329865 # behavior reson { duration = 6; MB_Range = 176.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 176.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 101.544721 meters # Minimum depth: 1086.528333 meters looking forward 200.000000 meters along route # Maximum depth: 1099.600308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.528333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762037; longitude = -121.849381; duration = 406; initialDepth = 1048.701361; finalDepth = 1046.528333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7827320000001 # Actual altitude: 41.7827320000001 # Commanded vehicle depth: 1046.528333 # Seafloor depth: -1088.311065 # behavior reson { duration = 6; MB_Range = 167.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 167.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.590283 meters # Minimum depth: 1088.701361 meters looking forward 200.000000 meters along route # Maximum depth: 1099.600308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.701361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762697; longitude = -121.850159; duration = 402; initialDepth = 1055.050970; finalDepth = 1048.701361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6592920000001 # Actual altitude: 50.6592920000001 # Commanded vehicle depth: 1048.701361 # Seafloor depth: -1099.360653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.066885 meters # Minimum depth: 1095.050970 meters looking forward 200.000000 meters along route # Maximum depth: 1099.313136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.050970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763351; longitude = -121.850929; duration = 404; initialDepth = 1055.050970; finalDepth = 1055.050970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6592920000001 # Actual altitude: 50.6592920000001 # Commanded vehicle depth: 1055.05097 # Seafloor depth: -1095.425397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.066474 meters # Minimum depth: 1095.050970 meters looking forward 200.000000 meters along route # Maximum depth: 1102.950983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.050970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764009; longitude = -121.851703; duration = 404; initialDepth = 1056.393624; finalDepth = 1055.050970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2869559999999 # Actual altitude: 41.2869559999999 # Commanded vehicle depth: 1055.05097 # Seafloor depth: -1096.337926 # behavior reson { duration = 6; MB_Range = 165.15; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 165.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.876582 meters # Minimum depth: 1096.393624 meters looking forward 200.000000 meters along route # Maximum depth: 1104.610712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1056.393624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764666; longitude = -121.852477; duration = 407; initialDepth = 1063.097650; finalDepth = 1056.393624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.5651339999999 # Actual altitude: 46.5651339999999 # Commanded vehicle depth: 1056.393624 # Seafloor depth: -1102.958758 # behavior reson { duration = 6; MB_Range = 186.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 186.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.255132 meters # Minimum depth: 1103.097650 meters looking forward 200.000000 meters along route # Maximum depth: 1104.643244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.097650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765329; longitude = -121.853257; duration = 401; initialDepth = 1063.335877; finalDepth = 1063.097650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 46.5651339999999 # Actual altitude: 46.5651339999999 # Commanded vehicle depth: 1063.09765 # Seafloor depth: -1104.614476 # behavior reson { duration = 6; MB_Range = 186.26; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 186.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.065240 meters # Minimum depth: 1103.335877 meters looking forward 200.000000 meters along route # Maximum depth: 1104.643244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.335877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765981; longitude = -121.854025; duration = 404; initialDepth = 1063.335877; finalDepth = 1063.335877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.516826 # Actual altitude: 41.516826 # Commanded vehicle depth: 1063.335877 # Seafloor depth: -1104.038811 # behavior reson { duration = 6; MB_Range = 166.07; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 166.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.275489 meters # Minimum depth: 1103.335877 meters looking forward 200.000000 meters along route # Maximum depth: 1106.301937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.335877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766638; longitude = -121.854799; duration = 405; initialDepth = 1063.347227; finalDepth = 1063.335877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.7029339999999 # Actual altitude: 40.7029339999999 # Commanded vehicle depth: 1063.335877 # Seafloor depth: -1103.441225 # behavior reson { duration = 6; MB_Range = 162.81; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 101.997774 meters # Minimum depth: 1103.347227 meters looking forward 200.000000 meters along route # Maximum depth: 1108.587771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.347227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767297; longitude = -121.855575; duration = 407; initialDepth = 1063.393679; finalDepth = 1063.347227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9634800000001 # Actual altitude: 42.9634800000001 # Commanded vehicle depth: 1063.347227 # Seafloor depth: -1106.310707 # behavior reson { duration = 6; MB_Range = 171.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 171.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.932306 meters # Minimum depth: 1103.393679 meters looking forward 200.000000 meters along route # Maximum depth: 1108.717735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.393679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767960; longitude = -121.856356; duration = 403; initialDepth = 1058.545412; finalDepth = 1063.393679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.222683 # Actual altitude: 45.222683 # Commanded vehicle depth: 1063.393679 # Seafloor depth: -1108.616362 # behavior reson { duration = 6; MB_Range = 180.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.89; 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 38.599351 meters # Minimum depth: 1098.545412 meters looking forward 200.000000 meters along route # Maximum depth: 1108.717735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.545412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768617; longitude = -121.857129; duration = 154; # abortOnTimeout = True; initialDepth = 1058.482262; finalDepth = 1058.545412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.222683 # Actual altitude: 45.222683 # Commanded vehicle depth: 1058.545412 # Seafloor depth: -1103.431458 # behavior reson { duration = 6; MB_Range = 180.89; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 180.89; 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 129.541080 meters # Minimum depth: 1098.482262 meters looking forward 200.000000 meters along route # Maximum depth: 1106.364675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.482262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768867; longitude = -121.856832; duration = 518; # abortOnTimeout = True; initialDepth = 1058.516890; finalDepth = 1058.482262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.8860460000001 # Actual altitude: 44.8860460000001 # Commanded vehicle depth: 1058.482262 # Seafloor depth: -1098.528778 # behavior reson { duration = 6; MB_Range = 179.54; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 179.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 100.931845 meters # Minimum depth: 1098.516890 meters looking forward 200.000000 meters along route # Maximum depth: 1108.532335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.516890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768025; longitude = -121.855839; duration = 403; initialDepth = 1066.360917; finalDepth = 1058.516890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.660265 # Actual altitude: 47.660265 # Commanded vehicle depth: 1058.51689 # Seafloor depth: -1106.177155 # behavior reson { duration = 6; MB_Range = 190.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.60; MB_Bottom_Detect_Filter_Max_Range = 190.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.932255 meters # Minimum depth: 1106.360917 meters looking forward 200.000000 meters along route # Maximum depth: 1108.532335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.360917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767370; longitude = -121.855065; duration = 403; initialDepth = 1066.513654; finalDepth = 1066.360917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.660265 # Actual altitude: 47.660265 # Commanded vehicle depth: 1066.360917 # Seafloor depth: -1107.770468 # behavior reson { duration = 6; MB_Range = 190.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.60; MB_Bottom_Detect_Filter_Max_Range = 190.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.932667 meters # Minimum depth: 1106.513654 meters looking forward 200.000000 meters along route # Maximum depth: 1108.593130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1066.513654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766714; longitude = -121.854290; duration = 403; initialDepth = 1064.367087; finalDepth = 1066.513654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.409551 # Actual altitude: 41.409551 # Commanded vehicle depth: 1066.513654 # Seafloor depth: -1107.362816 # behavior reson { duration = 6; MB_Range = 165.64; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 165.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.933077 meters # Minimum depth: 1104.367087 meters looking forward 200.000000 meters along route # Maximum depth: 1108.593130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1064.367087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766058; longitude = -121.853516; duration = 403; initialDepth = 1063.236625; finalDepth = 1064.367087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2445949999999 # Actual altitude: 43.2445949999999 # Commanded vehicle depth: 1064.367087 # Seafloor depth: -1107.611682 # behavior reson { duration = 6; MB_Range = 172.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 172.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.933488 meters # Minimum depth: 1103.236625 meters looking forward 200.000000 meters along route # Maximum depth: 1107.572127 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1063.236625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765402; longitude = -121.852742; duration = 403; initialDepth = 1062.032142; finalDepth = 1063.236625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.2445949999999 # Actual altitude: 43.2445949999999 # Commanded vehicle depth: 1063.236625 # Seafloor depth: -1104.324236 # behavior reson { duration = 6; MB_Range = 172.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 172.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.044878 meters # Minimum depth: 1102.032142 meters looking forward 200.000000 meters along route # Maximum depth: 1104.505460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1062.032142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764747; longitude = -121.851968; duration = 404; initialDepth = 1060.247555; finalDepth = 1062.032142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3955739999999 # Actual altitude: 42.3955739999999 # Commanded vehicle depth: 1062.032142 # Seafloor depth: -1104.427716 # behavior reson { duration = 6; MB_Range = 169.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.823329 meters # Minimum depth: 1100.247555 meters looking forward 200.000000 meters along route # Maximum depth: 1104.418436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.247555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764090; longitude = -121.851193; duration = 403; initialDepth = 1050.006304; finalDepth = 1060.247555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3955739999999 # Actual altitude: 42.3955739999999 # Commanded vehicle depth: 1060.247555 # Seafloor depth: -1102.031500 # behavior reson { duration = 6; MB_Range = 169.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.934720 meters # Minimum depth: 1090.006304 meters looking forward 200.000000 meters along route # Maximum depth: 1101.923473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.006304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763435; longitude = -121.850420; duration = 403; initialDepth = 1041.311173; finalDepth = 1050.006304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1708180000001 # Actual altitude: 50.1708180000001 # Commanded vehicle depth: 1050.006304 # Seafloor depth: -1100.177122 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.935131 meters # Minimum depth: 1081.311173 meters looking forward 200.000000 meters along route # Maximum depth: 1100.057058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.311173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762780; longitude = -121.849646; duration = 403; initialDepth = 1040.903578; finalDepth = 1041.311173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1708180000001 # Actual altitude: 50.1708180000001 # Commanded vehicle depth: 1041.311173 # Seafloor depth: -1089.955234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 100.177117 meters # Minimum depth: 1080.903578 meters looking forward 200.000000 meters along route # Maximum depth: 1089.462044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.903578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762124; longitude = -121.848872; duration = 400; initialDepth = 1038.261706; finalDepth = 1040.903578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 48.644061 # Actual altitude: 48.644061 # Commanded vehicle depth: 1040.903578 # Seafloor depth: -1081.203204 # behavior reson { duration = 6; MB_Range = 194.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.19; MB_Bottom_Detect_Filter_Max_Range = 194.58; 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 40.010217 meters # Minimum depth: 1078.261706 meters looking forward 200.000000 meters along route # Maximum depth: 1084.303321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.261706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761473; longitude = -121.848104; duration = 160; # abortOnTimeout = True; initialDepth = 1038.236866; finalDepth = 1038.261706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.713849 # Actual altitude: 43.713849 # Commanded vehicle depth: 1038.261706 # Seafloor depth: -1081.975555 # behavior reson { duration = 6; MB_Range = 174.86; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 174.86; 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 127.355551 meters # Minimum depth: 1078.236866 meters looking forward 200.000000 meters along route # Maximum depth: 1081.975555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.236866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761723; longitude = -121.847785; duration = 509; # abortOnTimeout = True; initialDepth = 1038.388195; finalDepth = 1038.236866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.713849 # Actual altitude: 43.713849 # Commanded vehicle depth: 1038.236866 # Seafloor depth: -1078.276031 # behavior reson { duration = 6; MB_Range = 174.86; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 174.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.934877 meters # Minimum depth: 1078.388195 meters looking forward 200.000000 meters along route # Maximum depth: 1085.316603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.388195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762550; longitude = -121.848762; duration = 403; initialDepth = 1040.226900; finalDepth = 1038.388195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.797499 # Actual altitude: 41.797499 # Commanded vehicle depth: 1038.388195 # Seafloor depth: -1080.185694 # behavior reson { duration = 6; MB_Range = 167.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 167.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.934468 meters # Minimum depth: 1080.226900 meters looking forward 200.000000 meters along route # Maximum depth: 1095.209308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.226900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763206; longitude = -121.849536; duration = 403; initialDepth = 1045.577836; finalDepth = 1040.226900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.0944860000002 # Actual altitude: 45.0944860000002 # Commanded vehicle depth: 1040.2269 # Seafloor depth: -1085.321386 # behavior reson { duration = 6; MB_Range = 180.38; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 180.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.934056 meters # Minimum depth: 1085.577836 meters looking forward 200.000000 meters along route # Maximum depth: 1101.682623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.577836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763862; longitude = -121.850310; duration = 403; initialDepth = 1055.797930; finalDepth = 1045.577836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.963522 # Actual altitude: 49.963522 # Commanded vehicle depth: 1045.577836 # Seafloor depth: -1095.541358 # behavior reson { duration = 6; MB_Range = 199.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 199.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.030822 meters # Minimum depth: 1095.797930 meters looking forward 200.000000 meters along route # Maximum depth: 1101.682623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.797930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764518; longitude = -121.851084; duration = 404; initialDepth = 1058.761159; finalDepth = 1055.797930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.963522 # Actual altitude: 49.963522 # Commanded vehicle depth: 1055.79793 # Seafloor depth: -1101.537794 # behavior reson { duration = 6; MB_Range = 199.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 199.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.836059 meters # Minimum depth: 1098.761159 meters looking forward 200.000000 meters along route # Maximum depth: 1101.547804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.761159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765174; longitude = -121.851859; duration = 403; initialDepth = 1058.761159; finalDepth = 1058.761159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.7398640000001 # Actual altitude: 45.7398640000001 # Commanded vehicle depth: 1058.761159 # Seafloor depth: -1099.041580 # behavior reson { duration = 6; MB_Range = 182.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 182.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.932824 meters # Minimum depth: 1098.761159 meters looking forward 200.000000 meters along route # Maximum depth: 1103.799132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1058.761159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765829; longitude = -121.852632; duration = 403; initialDepth = 1059.073556; finalDepth = 1058.761159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.3611860000001 # Actual altitude: 40.3611860000001 # Commanded vehicle depth: 1058.761159 # Seafloor depth: -1099.122345 # behavior reson { duration = 6; MB_Range = 161.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.22; MB_Bottom_Detect_Filter_Max_Range = 161.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 101.194175 meters # Minimum depth: 1099.073556 meters looking forward 200.000000 meters along route # Maximum depth: 1107.154174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1059.073556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766485; longitude = -121.853406; duration = 404; initialDepth = 1060.914003; finalDepth = 1059.073556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.783177 # Actual altitude: 44.783177 # Commanded vehicle depth: 1059.073556 # Seafloor depth: -1103.856733 # behavior reson { duration = 6; MB_Range = 179.13; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 179.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.670241 meters # Minimum depth: 1100.914003 meters looking forward 200.000000 meters along route # Maximum depth: 1107.154174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1060.914003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767142; longitude = -121.854182; duration = 402; initialDepth = 1055.111259; finalDepth = 1060.914003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.9610379999999 # Actual altitude: 45.9610379999999 # Commanded vehicle depth: 1060.914003 # Seafloor depth: -1106.875041 # behavior reson { duration = 6; MB_Range = 183.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 183.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.931592 meters # Minimum depth: 1095.111259 meters looking forward 200.000000 meters along route # Maximum depth: 1106.708116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1055.111259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767796; longitude = -121.854954; duration = 403; initialDepth = 1054.979717; finalDepth = 1055.111259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 45.9610379999999 # Actual altitude: 45.9610379999999 # Commanded vehicle depth: 1055.111259 # Seafloor depth: -1100.801053 # behavior reson { duration = 6; MB_Range = 183.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 183.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 102.363317 meters # Minimum depth: 1094.979717 meters looking forward 200.000000 meters along route # Maximum depth: 1100.470996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.979717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768452; longitude = -121.855728; duration = 409; initialDepth = 1054.979717; finalDepth = 1054.979717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.6897939999999 # Actual altitude: 45.6897939999999 # Commanded vehicle depth: 1054.979717 # Seafloor depth: -1095.110556 # behavior reson { duration = 6; MB_Range = 182.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.41; MB_Bottom_Detect_Filter_Max_Range = 182.76; 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 40.008173 meters # Minimum depth: 1094.979717 meters looking forward 200.000000 meters along route # Maximum depth: 1098.222054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.979717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769117; longitude = -121.856513; duration = 160; # abortOnTimeout = True; initialDepth = 1053.098261; finalDepth = 1054.979717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.931599 # Actual altitude: 41.931599 # Commanded vehicle depth: 1054.979717 # Seafloor depth: -1096.911316 # behavior reson { duration = 6; MB_Range = 167.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.73; 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 127.990629 meters # Minimum depth: 1093.098261 meters looking forward 200.000000 meters along route # Maximum depth: 1096.911316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.098261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769367; longitude = -121.856194; duration = 511; # abortOnTimeout = True; initialDepth = 1052.631246; finalDepth = 1053.098261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5339719999999 # Actual altitude: 43.5339719999999 # Commanded vehicle depth: 1053.098261 # Seafloor depth: -1096.632233 # behavior reson { duration = 6; MB_Range = 174.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 100.034078 meters # Minimum depth: 1092.631246 meters looking forward 200.000000 meters along route # Maximum depth: 1095.880545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.631246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768535; longitude = -121.855212; duration = 400; initialDepth = 1052.631246; finalDepth = 1052.631246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.5339719999999 # Actual altitude: 43.5339719999999 # Commanded vehicle depth: 1052.631246 # Seafloor depth: -1093.138029 # behavior reson { duration = 6; MB_Range = 174.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 174.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.931961 meters # Minimum depth: 1092.631246 meters looking forward 200.000000 meters along route # Maximum depth: 1096.166825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.631246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767886; longitude = -121.854445; duration = 403; initialDepth = 1053.096455; finalDepth = 1052.631246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.506783 # Actual altitude: 40.506783 # Commanded vehicle depth: 1052.631246 # Seafloor depth: -1093.125984 # behavior reson { duration = 6; MB_Range = 162.03; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 162.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.932372 meters # Minimum depth: 1093.096455 meters looking forward 200.000000 meters along route # Maximum depth: 1096.166825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.096455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767230; longitude = -121.853671; duration = 403; initialDepth = 1050.574309; finalDepth = 1053.096455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3085339999998 # Actual altitude: 42.3085339999998 # Commanded vehicle depth: 1053.096455 # Seafloor depth: -1095.404989 # behavior reson { duration = 6; MB_Range = 169.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 169.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.932782 meters # Minimum depth: 1090.574309 meters looking forward 200.000000 meters along route # Maximum depth: 1095.243744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.574309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766574; longitude = -121.852897; duration = 403; initialDepth = 1047.610900; finalDepth = 1050.574309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.436387 # Actual altitude: 42.436387 # Commanded vehicle depth: 1050.574309 # Seafloor depth: -1093.010696 # behavior reson { duration = 6; MB_Range = 169.75; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 169.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.970299 meters # Minimum depth: 1087.610900 meters looking forward 200.000000 meters along route # Maximum depth: 1092.901660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.610900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765918; longitude = -121.852123; duration = 403; initialDepth = 1047.435563; finalDepth = 1047.610900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9408800000001 # Actual altitude: 42.9408800000001 # Commanded vehicle depth: 1047.6109 # Seafloor depth: -1090.551780 # behavior reson { duration = 6; MB_Range = 171.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 171.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.896499 meters # Minimum depth: 1087.435563 meters looking forward 200.000000 meters along route # Maximum depth: 1090.524730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.435563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765262; longitude = -121.851349; duration = 403; initialDepth = 1044.491364; finalDepth = 1047.435563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.9408800000001 # Actual altitude: 42.9408800000001 # Commanded vehicle depth: 1047.435563 # Seafloor depth: -1087.991256 # behavior reson { duration = 6; MB_Range = 171.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 171.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.934014 meters # Minimum depth: 1084.491364 meters looking forward 200.000000 meters along route # Maximum depth: 1088.890947 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.491364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764607; longitude = -121.850575; duration = 403; initialDepth = 1041.405200; finalDepth = 1044.491364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.945725 # Actual altitude: 42.945725 # Commanded vehicle depth: 1044.491364 # Seafloor depth: -1087.437089 # behavior reson { duration = 6; MB_Range = 171.78; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 171.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.136123 meters # Minimum depth: 1081.405200 meters looking forward 200.000000 meters along route # Maximum depth: 1087.408606 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.405200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763951; longitude = -121.849801; duration = 404; initialDepth = 1038.949592; finalDepth = 1041.405200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.048483 # Actual altitude: 43.048483 # Commanded vehicle depth: 1041.4052 # Seafloor depth: -1084.453683 # behavior reson { duration = 6; MB_Range = 172.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 172.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 102.124419 meters # Minimum depth: 1078.949592 meters looking forward 200.000000 meters along route # Maximum depth: 1084.248645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.949592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763294; longitude = -121.849025; duration = 408; initialDepth = 1036.877839; finalDepth = 1038.949592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.048483 # Actual altitude: 43.048483 # Commanded vehicle depth: 1038.949592 # Seafloor depth: -1081.405076 # behavior reson { duration = 6; MB_Range = 172.19; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 172.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 101.233203 meters # Minimum depth: 1076.877839 meters looking forward 200.000000 meters along route # Maximum depth: 1081.248904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.877839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762631; longitude = -121.848242; duration = 404; initialDepth = 1036.153393; finalDepth = 1036.877839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.4554840000001 # Actual altitude: 42.4554840000001 # Commanded vehicle depth: 1036.877839 # Seafloor depth: -1078.932431 # behavior reson { duration = 6; MB_Range = 169.82; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 169.82; 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 40.010094 meters # Minimum depth: 1076.153393 meters looking forward 200.000000 meters along route # Maximum depth: 1080.081191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.153393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761973; longitude = -121.847466; duration = 160; # abortOnTimeout = True; initialDepth = 1036.126465; finalDepth = 1036.153393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.054592 # Actual altitude: 42.054592 # Commanded vehicle depth: 1036.153393 # Seafloor depth: -1076.860382 # behavior reson { duration = 6; MB_Range = 168.22; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 168.22; 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 127.430137 meters # Minimum depth: 1076.126465 meters looking forward 200.000000 meters along route # Maximum depth: 1079.269386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.126465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762223; longitude = -121.847147; duration = 509; # abortOnTimeout = True; initialDepth = 1036.720484; finalDepth = 1036.126465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.706989 # Actual altitude: 40.706989 # Commanded vehicle depth: 1036.126465 # Seafloor depth: -1076.126465 # behavior reson { duration = 6; MB_Range = 162.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 100.423441 meters # Minimum depth: 1076.720484 meters looking forward 200.000000 meters along route # Maximum depth: 1080.155307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.720484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763051; longitude = -121.848124; duration = 401; initialDepth = 1039.332996; finalDepth = 1036.720484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5520630000001 # Actual altitude: 42.5520630000001 # Commanded vehicle depth: 1036.720484 # Seafloor depth: -1079.272547 # behavior reson { duration = 6; MB_Range = 170.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.934184 meters # Minimum depth: 1079.332996 meters looking forward 200.000000 meters along route # Maximum depth: 1080.858112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.332996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763703; longitude = -121.848894; duration = 403; initialDepth = 1040.023399; finalDepth = 1039.332996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.5520630000001 # Actual altitude: 42.5520630000001 # Commanded vehicle depth: 1039.332996 # Seafloor depth: -1080.141380 # behavior reson { duration = 6; MB_Range = 170.21; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 170.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.609511 meters # Minimum depth: 1080.023399 meters looking forward 200.000000 meters along route # Maximum depth: 1082.742754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.023399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764359; longitude = -121.849668; duration = 406; initialDepth = 1040.916920; finalDepth = 1040.023399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.8083839999999 # Actual altitude: 40.8083839999999 # Commanded vehicle depth: 1040.023399 # Seafloor depth: -1080.829749 # behavior reson { duration = 6; MB_Range = 163.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 163.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.257626 meters # Minimum depth: 1080.916920 meters looking forward 200.000000 meters along route # Maximum depth: 1084.928348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.916920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765019; longitude = -121.850448; duration = 401; initialDepth = 1042.783823; finalDepth = 1040.916920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.8318210000002 # Actual altitude: 41.8318210000002 # Commanded vehicle depth: 1040.91692 # Seafloor depth: -1082.748741 # behavior reson { duration = 6; MB_Range = 167.33; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 167.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.932952 meters # Minimum depth: 1082.783823 meters looking forward 200.000000 meters along route # Maximum depth: 1087.549386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.783823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765670; longitude = -121.851216; duration = 403; initialDepth = 1045.089028; finalDepth = 1042.783823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.188134 # Actual altitude: 42.188134 # Commanded vehicle depth: 1042.783823 # Seafloor depth: -1084.971957 # behavior reson { duration = 6; MB_Range = 168.75; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 168.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.772857 meters # Minimum depth: 1085.089028 meters looking forward 200.000000 meters along route # Maximum depth: 1089.371312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.089028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766326; longitude = -121.851990; duration = 407; initialDepth = 1047.586379; finalDepth = 1045.089028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4603099999999 # Actual altitude: 42.4603099999999 # Commanded vehicle depth: 1045.089028 # Seafloor depth: -1087.549338 # behavior reson { duration = 6; MB_Range = 169.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.091815 meters # Minimum depth: 1087.586379 meters looking forward 200.000000 meters along route # Maximum depth: 1090.850540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.586379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766987; longitude = -121.852771; duration = 400; initialDepth = 1049.418363; finalDepth = 1047.586379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4603099999999 # Actual altitude: 42.4603099999999 # Commanded vehicle depth: 1047.586379 # Seafloor depth: -1089.376865 # behavior reson { duration = 6; MB_Range = 169.84; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 169.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.931720 meters # Minimum depth: 1089.418363 meters looking forward 200.000000 meters along route # Maximum depth: 1090.850540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.418363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767638; longitude = -121.853539; duration = 403; initialDepth = 1050.623579; finalDepth = 1049.418363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.7904859999999 # Actual altitude: 41.7904859999999 # Commanded vehicle depth: 1049.418363 # Seafloor depth: -1090.778625 # behavior reson { duration = 6; MB_Range = 167.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.07; MB_Bottom_Detect_Filter_Max_Range = 167.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.936199 meters # Minimum depth: 1090.623579 meters looking forward 200.000000 meters along route # Maximum depth: 1093.077560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.623579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768293; longitude = -121.854313; duration = 407; initialDepth = 1050.801385; finalDepth = 1050.623579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.3602619999999 # Actual altitude: 41.3602619999999 # Commanded vehicle depth: 1050.623579 # Seafloor depth: -1090.746763 # behavior reson { duration = 6; MB_Range = 165.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.82; MB_Bottom_Detect_Filter_Max_Range = 165.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 101.794332 meters # Minimum depth: 1090.801385 meters looking forward 200.000000 meters along route # Maximum depth: 1096.329544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.801385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768956; longitude = -121.855094; duration = 407; initialDepth = 1051.453267; finalDepth = 1050.801385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.328311 # Actual altitude: 42.328311 # Commanded vehicle depth: 1050.801385 # Seafloor depth: -1093.129696 # behavior reson { duration = 6; MB_Range = 169.31; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 169.31; 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 165.454544 meters # Minimum depth: 1091.453267 meters looking forward 200.000000 meters along route # Maximum depth: 1096.378754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.453267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.769617; longitude = -121.855875; duration = 661; # abortOnTimeout = True; initialDepth = 1051.353760; finalDepth = 1051.453267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.925487 # Actual altitude: 44.925487 # Commanded vehicle depth: 1051.453267 # Seafloor depth: -1096.378754 # behavior reson { duration = 6; MB_Range = 179.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 179.70; 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 105.498243 meters # Minimum depth: 1091.353760 meters looking forward 200.000000 meters along route # Maximum depth: 1094.365258 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.353760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768860; longitude = -121.854298; duration = 421; # abortOnTimeout = True; initialDepth = 1051.383716; finalDepth = 1051.353760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 44.925487 # Actual altitude: 44.925487 # Commanded vehicle depth: 1051.35376 # Seafloor depth: -1091.353760 # behavior reson { duration = 6; MB_Range = 179.70; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 179.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.730917 meters # Minimum depth: 1091.383716 meters looking forward 200.000000 meters along route # Maximum depth: 1108.601565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.383716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768204; longitude = -121.855143; duration = 402; initialDepth = 1054.699446; finalDepth = 1051.383716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.1376619999999 # Actual altitude: 43.1376619999999 # Commanded vehicle depth: 1051.383716 # Seafloor depth: -1094.521378 # behavior reson { duration = 6; MB_Range = 172.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 172.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.203572 meters # Minimum depth: 1094.699446 meters looking forward 200.000000 meters along route # Maximum depth: 1108.601565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1054.699446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767577; longitude = -121.855949; duration = 408; initialDepth = 1053.581747; finalDepth = 1054.699446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.785425 # Actual altitude: 52.785425 # Commanded vehicle depth: 1054.699446 # Seafloor depth: -1107.484871 # 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 43 # Segment length 100.371754 meters # Minimum depth: 1093.581747 meters looking forward 200.000000 meters along route # Maximum depth: 1107.384888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.581747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766941; longitude = -121.856767; duration = 401; initialDepth = 1053.101222; finalDepth = 1053.581747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.785425 # Actual altitude: 52.785425 # Commanded vehicle depth: 1053.581747 # Seafloor depth: -1094.683489 # 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; } # ####################################################### # # 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 38.994842 meters # Minimum depth: 1093.101222 meters looking forward 200.000000 meters along route # Maximum depth: 1102.832986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.101222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766317; longitude = -121.857571; duration = 155; # abortOnTimeout = True; initialDepth = 1052.814310; finalDepth = 1053.101222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.1017420000001 # Actual altitude: 41.1017420000001 # Commanded vehicle depth: 1053.101222 # Seafloor depth: -1094.091888 # behavior reson { duration = 6; MB_Range = 164.41; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 164.41; 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 106.883197 meters # Minimum depth: 1092.814310 meters looking forward 200.000000 meters along route # Maximum depth: 1094.091888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.814310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766066; longitude = -121.857269; duration = 427; # abortOnTimeout = True; initialDepth = 1052.814310; finalDepth = 1052.814310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9906659999999 # Actual altitude: 40.9906659999999 # Commanded vehicle depth: 1052.81431 # Seafloor depth: -1093.099579 # behavior reson { duration = 6; MB_Range = 163.96; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.59; MB_Bottom_Detect_Filter_Max_Range = 163.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 101.599817 meters # Minimum depth: 1092.814310 meters looking forward 200.000000 meters along route # Maximum depth: 1106.592312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.814310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766731; longitude = -121.856414; duration = 406; initialDepth = 1053.667786; finalDepth = 1052.814310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.724213 # Actual altitude: 40.724213 # Commanded vehicle depth: 1052.81431 # Seafloor depth: -1093.538523 # behavior reson { duration = 6; MB_Range = 162.90; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.43; MB_Bottom_Detect_Filter_Max_Range = 162.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.112184 meters # Minimum depth: 1093.667786 meters looking forward 200.000000 meters along route # Maximum depth: 1108.223392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1053.667786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767363; longitude = -121.855600; duration = 400; initialDepth = 1050.190690; finalDepth = 1053.667786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.018497 # Actual altitude: 53.018497 # Commanded vehicle depth: 1053.667786 # Seafloor depth: -1106.686283 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.345783 meters # Minimum depth: 1090.190690 meters looking forward 200.000000 meters along route # Maximum depth: 1108.223392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.190690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767986; longitude = -121.854799; duration = 405; initialDepth = 1049.474360; finalDepth = 1050.190690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.018497 # Actual altitude: 53.018497 # Commanded vehicle depth: 1050.19069 # Seafloor depth: -1094.021409 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 42.130220 meters # Minimum depth: 1089.474360 meters looking forward 200.000000 meters along route # Maximum depth: 1107.505416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.474360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768617; longitude = -121.853988; duration = 168; # abortOnTimeout = True; initialDepth = 1049.467194; finalDepth = 1049.474360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 43.830719 # Actual altitude: 43.830719 # Commanded vehicle depth: 1049.47436 # Seafloor depth: -1090.211304 # behavior reson { duration = 6; MB_Range = 175.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 175.32; 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 113.972487 meters # Minimum depth: 1089.467194 meters looking forward 200.000000 meters along route # Maximum depth: 1099.444710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.467194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768344; longitude = -121.853664; duration = 455; # abortOnTimeout = True; initialDepth = 1049.676310; finalDepth = 1049.467194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.736944 # Actual altitude: 40.736944 # Commanded vehicle depth: 1049.467194 # Seafloor depth: -1089.467194 # behavior reson { duration = 6; MB_Range = 162.95; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 162.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 100.941636 meters # Minimum depth: 1089.676310 meters looking forward 200.000000 meters along route # Maximum depth: 1107.791143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.676310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767636; longitude = -121.854578; duration = 403; initialDepth = 1052.058707; finalDepth = 1049.676310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5123939999999 # Actual altitude: 50.5123939999999 # Commanded vehicle depth: 1049.67631 # Seafloor depth: -1100.188704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 100.376050 meters # Minimum depth: 1092.058707 meters looking forward 200.000000 meters along route # Maximum depth: 1107.791143 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.058707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767010; longitude = -121.855387; duration = 401; initialDepth = 1051.905091; finalDepth = 1052.058707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0453090000001 # Actual altitude: 52.0453090000001 # Commanded vehicle depth: 1052.058707 # Seafloor depth: -1104.104016 # 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 39 # Segment length 100.208965 meters # Minimum depth: 1091.905091 meters looking forward 200.000000 meters along route # Maximum depth: 1104.008469 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.905091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766386; longitude = -121.856192; duration = 400; initialDepth = 1051.618193; finalDepth = 1051.905091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.0453090000001 # Actual altitude: 52.0453090000001 # Commanded vehicle depth: 1051.905091 # Seafloor depth: -1092.049305 # 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; } # ####################################################### # # 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 42.497172 meters # Minimum depth: 1091.618193 meters looking forward 200.000000 meters along route # Maximum depth: 1096.601791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.618193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765764; longitude = -121.856996; duration = 169; # abortOnTimeout = True; initialDepth = 1051.329196; finalDepth = 1051.618193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.9391189999999 # Actual altitude: 40.9391189999999 # Commanded vehicle depth: 1051.618193 # Seafloor depth: -1092.557312 # behavior reson { duration = 6; MB_Range = 163.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 163.76; 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 118.085831 meters # Minimum depth: 1091.329196 meters looking forward 200.000000 meters along route # Maximum depth: 1092.557312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.329196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765476; longitude = -121.856686; duration = 472; # abortOnTimeout = True; initialDepth = 1051.329196; finalDepth = 1051.329196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9391189999999 # Actual altitude: 40.9391189999999 # Commanded vehicle depth: 1051.329196 # Seafloor depth: -1091.656677 # behavior reson { duration = 6; MB_Range = 163.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 163.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 101.780714 meters # Minimum depth: 1091.329196 meters looking forward 200.000000 meters along route # Maximum depth: 1104.158224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1051.329196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766213; longitude = -121.855744; duration = 407; initialDepth = 1052.009925; finalDepth = 1051.329196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.636334 # Actual altitude: 40.636334 # Commanded vehicle depth: 1051.329196 # Seafloor depth: -1091.965530 # behavior reson { duration = 6; MB_Range = 162.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.096530 meters # Minimum depth: 1092.009925 meters looking forward 200.000000 meters along route # Maximum depth: 1107.162848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1052.009925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766849; longitude = -121.854932; duration = 400; initialDepth = 1049.154940; finalDepth = 1052.009925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3795499999999 # Actual altitude: 52.3795499999999 # Commanded vehicle depth: 1052.009925 # Seafloor depth: -1104.389475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.422832 meters # Minimum depth: 1089.154940 meters looking forward 200.000000 meters along route # Maximum depth: 1107.162848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.154940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767474; longitude = -121.854133; duration = 401; initialDepth = 1049.143901; finalDepth = 1049.154940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3795499999999 # Actual altitude: 52.3795499999999 # Commanded vehicle depth: 1049.15494 # Seafloor depth: -1098.426493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 35.977840 meters # Minimum depth: 1089.143901 meters looking forward 200.000000 meters along route # Maximum depth: 1107.162848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.143901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.768101; longitude = -121.853332; duration = 143; # abortOnTimeout = True; initialDepth = 1049.119714; finalDepth = 1049.143901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 49.271553 # Actual altitude: 49.271553 # Commanded vehicle depth: 1049.143901 # Seafloor depth: -1089.170715 # behavior reson { duration = 6; MB_Range = 197.09; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.56; MB_Bottom_Detect_Filter_Max_Range = 197.09; 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 118.838301 meters # Minimum depth: 1089.119714 meters looking forward 200.000000 meters along route # Maximum depth: 1104.796262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.119714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767865; longitude = -121.853059; duration = 475; # abortOnTimeout = True; initialDepth = 1049.488328; finalDepth = 1049.119714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.0268140000001 # Actual altitude: 40.0268140000001 # Commanded vehicle depth: 1049.119714 # Seafloor depth: -1089.128540 # behavior reson { duration = 6; MB_Range = 160.11; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 160.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 100.046999 meters # Minimum depth: 1089.488328 meters looking forward 200.000000 meters along route # Maximum depth: 1108.430580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.488328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767120; longitude = -121.854004; duration = 400; initialDepth = 1050.958260; finalDepth = 1049.488328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3296380000002 # Actual altitude: 55.3296380000002 # Commanded vehicle depth: 1049.488328 # Seafloor depth: -1104.817966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.056890 meters # Minimum depth: 1090.958260 meters looking forward 200.000000 meters along route # Maximum depth: 1108.430580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.958260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766493; longitude = -121.854799; duration = 404; initialDepth = 1050.913884; finalDepth = 1050.958260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3296380000002 # Actual altitude: 55.3296380000002 # Commanded vehicle depth: 1050.95826 # Seafloor depth: -1102.360076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.066478 meters # Minimum depth: 1090.913884 meters looking forward 200.000000 meters along route # Maximum depth: 1102.195296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.913884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765860; longitude = -121.855603; duration = 404; initialDepth = 1050.913884; finalDepth = 1050.913884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.4018159999998 # Actual altitude: 51.4018159999998 # Commanded vehicle depth: 1050.913884 # Seafloor depth: -1090.948912 # 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 34 # Segment length 42.342469 meters # Minimum depth: 1090.913884 meters looking forward 200.000000 meters along route # Maximum depth: 1094.383259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.913884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765226; longitude = -121.856406; duration = 169; # abortOnTimeout = True; initialDepth = 1050.366020; finalDepth = 1050.913884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.3373059999999 # Actual altitude: 40.3373059999999 # Commanded vehicle depth: 1050.913884 # Seafloor depth: -1091.251190 # behavior reson { duration = 6; MB_Range = 161.35; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.20; MB_Bottom_Detect_Filter_Max_Range = 161.35; 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 121.484195 meters # Minimum depth: 1090.366020 meters looking forward 200.000000 meters along route # Maximum depth: 1091.253729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.366020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764945; longitude = -121.856089; duration = 485; # abortOnTimeout = True; initialDepth = 1050.366020; finalDepth = 1050.366020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6277540000001 # Actual altitude: 40.6277540000001 # Commanded vehicle depth: 1050.36602 # Seafloor depth: -1090.993774 # behavior reson { duration = 6; MB_Range = 162.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.945669 meters # Minimum depth: 1090.366020 meters looking forward 200.000000 meters along route # Maximum depth: 1104.733694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.366020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765713; longitude = -121.855131; duration = 403; initialDepth = 1050.617674; finalDepth = 1050.366020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6277540000001 # Actual altitude: 40.6277540000001 # Commanded vehicle depth: 1050.36602 # Seafloor depth: -1090.597747 # behavior reson { duration = 6; MB_Range = 162.51; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 162.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.687973 meters # Minimum depth: 1090.617674 meters looking forward 200.000000 meters along route # Maximum depth: 1109.358823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1050.617674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766351; longitude = -121.854335; duration = 402; initialDepth = 1048.393070; finalDepth = 1050.617674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2132569999999 # Actual altitude: 54.2132569999999 # Commanded vehicle depth: 1050.617674 # Seafloor depth: -1104.830931 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.239543 meters # Minimum depth: 1088.393070 meters looking forward 200.000000 meters along route # Maximum depth: 1109.358823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.393070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766987; longitude = -121.853541; duration = 400; initialDepth = 1047.947687; finalDepth = 1048.393070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.2132569999999 # Actual altitude: 54.2132569999999 # Commanded vehicle depth: 1048.39307 # Seafloor depth: -1096.376410 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 40.613764 meters # Minimum depth: 1087.947687 meters looking forward 200.000000 meters along route # Maximum depth: 1109.358823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.947687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767621; longitude = -121.852750; duration = 162; # abortOnTimeout = True; initialDepth = 1047.947687; finalDepth = 1047.947687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 47.98334 # Actual altitude: 47.98334 # Commanded vehicle depth: 1047.947687 # Seafloor depth: -1088.370087 # behavior reson { duration = 6; MB_Range = 191.93; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.79; MB_Bottom_Detect_Filter_Max_Range = 191.93; 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 122.543251 meters # Minimum depth: 1087.947687 meters looking forward 200.000000 meters along route # Maximum depth: 1101.638812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.947687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767356; longitude = -121.852440; duration = 490; # abortOnTimeout = True; initialDepth = 1048.438978; finalDepth = 1047.947687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.4223999999999 # Actual altitude: 40.4223999999999 # Commanded vehicle depth: 1047.947687 # Seafloor depth: -1087.963623 # behavior reson { duration = 6; MB_Range = 161.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 161.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.011262 meters # Minimum depth: 1088.438978 meters looking forward 200.000000 meters along route # Maximum depth: 1108.893742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.438978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766581; longitude = -121.853406; duration = 404; initialDepth = 1049.608129; finalDepth = 1048.438978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5613890000002 # Actual altitude: 53.5613890000002 # Commanded vehicle depth: 1048.438978 # Seafloor depth: -1102.000367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.011648 meters # Minimum depth: 1089.608129 meters looking forward 200.000000 meters along route # Maximum depth: 1108.893742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.608129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765942; longitude = -121.854202; duration = 404; initialDepth = 1049.608129; finalDepth = 1049.608129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5613890000002 # Actual altitude: 53.5613890000002 # Commanded vehicle depth: 1049.608129 # Seafloor depth: -1102.086407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.985705 meters # Minimum depth: 1089.608129 meters looking forward 200.000000 meters along route # Maximum depth: 1101.156400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.608129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765303; longitude = -121.854998; duration = 407; initialDepth = 1049.608129; finalDepth = 1049.608129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.478278 # Actual altitude: 52.478278 # Commanded vehicle depth: 1049.608129 # Seafloor depth: -1089.757305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 40.614443 meters # Minimum depth: 1089.608129 meters looking forward 200.000000 meters along route # Maximum depth: 1092.565485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1049.608129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764658; longitude = -121.855802; duration = 162; # abortOnTimeout = True; initialDepth = 1048.743497; finalDepth = 1049.608129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.744929 # Actual altitude: 41.744929 # Commanded vehicle depth: 1049.608129 # Seafloor depth: -1091.353058 # behavior reson { duration = 6; MB_Range = 166.98; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.05; MB_Bottom_Detect_Filter_Max_Range = 166.98; 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 126.423040 meters # Minimum depth: 1088.743497 meters looking forward 200.000000 meters along route # Maximum depth: 1091.393039 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.743497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764393; longitude = -121.855492; duration = 505; # abortOnTimeout = True; initialDepth = 1048.743497; finalDepth = 1048.743497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3611170000001 # Actual altitude: 42.3611170000001 # Commanded vehicle depth: 1048.743497 # Seafloor depth: -1091.104614 # behavior reson { duration = 6; MB_Range = 169.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.965821 meters # Minimum depth: 1088.743497 meters looking forward 200.000000 meters along route # Maximum depth: 1105.144809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.743497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765196; longitude = -121.854500; duration = 403; initialDepth = 1048.892757; finalDepth = 1048.743497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.3611170000001 # Actual altitude: 42.3611170000001 # Commanded vehicle depth: 1048.743497 # Seafloor depth: -1088.847087 # behavior reson { duration = 6; MB_Range = 169.44; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 169.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.379633 meters # Minimum depth: 1088.892757 meters looking forward 200.000000 meters along route # Maximum depth: 1107.518703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1048.892757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765837; longitude = -121.853707; duration = 401; initialDepth = 1047.498622; finalDepth = 1048.892757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.375998 # Actual altitude: 56.375998 # Commanded vehicle depth: 1048.892757 # Seafloor depth: -1105.268755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.435641 meters # Minimum depth: 1087.498622 meters looking forward 200.000000 meters along route # Maximum depth: 1107.518703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.498622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766475; longitude = -121.852919; duration = 401; initialDepth = 1047.058350; finalDepth = 1047.498622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.375998 # Actual altitude: 56.375998 # Commanded vehicle depth: 1047.498622 # Seafloor depth: -1094.180962 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.83; 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 28 # Segment length 38.961092 meters # Minimum depth: 1087.058350 meters looking forward 200.000000 meters along route # Maximum depth: 1106.905319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.058350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.767113; longitude = -121.852131; duration = 155; # abortOnTimeout = True; initialDepth = 1047.022229; finalDepth = 1047.058350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 46.6823399999998 # Actual altitude: 46.6823399999998 # Commanded vehicle depth: 1047.05835 # Seafloor depth: -1087.493774 # behavior reson { duration = 6; MB_Range = 186.73; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.01; MB_Bottom_Detect_Filter_Max_Range = 186.73; 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 127.062089 meters # Minimum depth: 1087.022229 meters looking forward 200.000000 meters along route # Maximum depth: 1098.171223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.022229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766869; longitude = -121.851821; duration = 508; # abortOnTimeout = True; initialDepth = 1047.458333; finalDepth = 1047.022229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.435424 # Actual altitude: 40.435424 # Commanded vehicle depth: 1047.022229 # Seafloor depth: -1087.025269 # behavior reson { duration = 6; MB_Range = 161.74; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.26; MB_Bottom_Detect_Filter_Max_Range = 161.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.147989 meters # Minimum depth: 1087.458333 meters looking forward 200.000000 meters along route # Maximum depth: 1106.501367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.458333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766059; longitude = -121.852814; duration = 404; initialDepth = 1047.816826; finalDepth = 1047.458333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9037949999999 # Actual altitude: 50.9037949999999 # Commanded vehicle depth: 1047.458333 # Seafloor depth: -1098.362128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 101.850189 meters # Minimum depth: 1087.816826 meters looking forward 200.000000 meters along route # Maximum depth: 1106.501367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.816826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765413; longitude = -121.853605; duration = 407; initialDepth = 1047.816826; finalDepth = 1047.816826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.911672 # Actual altitude: 52.911672 # Commanded vehicle depth: 1047.816826 # Seafloor depth: -1100.728498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.928043 meters # Minimum depth: 1087.816826 meters looking forward 200.000000 meters along route # Maximum depth: 1099.957788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.816826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764764; longitude = -121.854401; duration = 403; initialDepth = 1047.816826; finalDepth = 1047.816826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.911672 # Actual altitude: 52.911672 # Commanded vehicle depth: 1047.816826 # Seafloor depth: -1088.096027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 37.556521 meters # Minimum depth: 1087.816826 meters looking forward 200.000000 meters along route # Maximum depth: 1090.350699 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1047.816826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764120; longitude = -121.855190; duration = 150; # abortOnTimeout = True; initialDepth = 1046.630041; finalDepth = 1047.816826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.51136 # Actual altitude: 42.51136 # Commanded vehicle depth: 1047.816826 # Seafloor depth: -1090.328186 # behavior reson { duration = 6; MB_Range = 170.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.05; 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 131.365024 meters # Minimum depth: 1086.630041 meters looking forward 200.000000 meters along route # Maximum depth: 1090.328186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.630041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763876; longitude = -121.854902; duration = 525; # abortOnTimeout = True; initialDepth = 1046.630041; finalDepth = 1046.630041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.51136 # Actual altitude: 42.51136 # Commanded vehicle depth: 1046.630041 # Seafloor depth: -1089.035339 # behavior reson { duration = 6; MB_Range = 170.05; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 170.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.258728 meters # Minimum depth: 1086.630041 meters looking forward 200.000000 meters along route # Maximum depth: 1106.548385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.630041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764710; longitude = -121.853870; duration = 405; initialDepth = 1046.769164; finalDepth = 1046.630041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.4052980000001 # Actual altitude: 42.4052980000001 # Commanded vehicle depth: 1046.630041 # Seafloor depth: -1086.710714 # behavior reson { duration = 6; MB_Range = 169.62; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 169.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.322097 meters # Minimum depth: 1086.769164 meters looking forward 200.000000 meters along route # Maximum depth: 1106.707760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.769164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765352; longitude = -121.853074; duration = 405; initialDepth = 1046.437987; finalDepth = 1046.769164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7832469999998 # Actual altitude: 59.7832469999998 # Commanded vehicle depth: 1046.769164 # Seafloor depth: -1106.552411 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.409545 meters # Minimum depth: 1086.437987 meters looking forward 200.000000 meters along route # Maximum depth: 1106.707760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1046.437987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765995; longitude = -121.852278; duration = 401; initialDepth = 1045.495435; finalDepth = 1046.437987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.7832469999998 # Actual altitude: 59.7832469999998 # Commanded vehicle depth: 1046.437987 # Seafloor depth: -1091.292454 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.87; 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 40.533342 meters # Minimum depth: 1085.495435 meters looking forward 200.000000 meters along route # Maximum depth: 1102.464883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.495435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766632; longitude = -121.851489; duration = 162; # abortOnTimeout = True; initialDepth = 1045.462280; finalDepth = 1045.495435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.8544669999999 # Actual altitude: 44.8544669999999 # Commanded vehicle depth: 1045.495435 # Seafloor depth: -1086.418213 # behavior reson { duration = 6; MB_Range = 179.42; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 179.42; 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 131.196960 meters # Minimum depth: 1085.462280 meters looking forward 200.000000 meters along route # Maximum depth: 1097.314439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.462280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766382; longitude = -121.851162; duration = 524; # abortOnTimeout = True; initialDepth = 1045.768672; finalDepth = 1045.462280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.9227779999999 # Actual altitude: 40.9227779999999 # Commanded vehicle depth: 1045.46228 # Seafloor depth: -1085.462280 # behavior reson { duration = 6; MB_Range = 163.69; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.55; MB_Bottom_Detect_Filter_Max_Range = 163.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.655327 meters # Minimum depth: 1085.768672 meters looking forward 200.000000 meters along route # Maximum depth: 1106.643152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.768672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765547; longitude = -121.852190; duration = 406; initialDepth = 1045.255274; finalDepth = 1045.768672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6406050000001 # Actual altitude: 51.6406050000001 # Commanded vehicle depth: 1045.768672 # Seafloor depth: -1097.409277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 101.655716 meters # Minimum depth: 1085.255274 meters looking forward 200.000000 meters along route # Maximum depth: 1106.643152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.255274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764900; longitude = -121.852986; duration = 406; initialDepth = 1045.255274; finalDepth = 1045.255274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.525437 # Actual altitude: 53.525437 # Commanded vehicle depth: 1045.255274 # Seafloor depth: -1098.780711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.764673 meters # Minimum depth: 1085.255274 meters looking forward 200.000000 meters along route # Maximum depth: 1097.580532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.255274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764252; longitude = -121.853782; duration = 403; initialDepth = 1045.255274; finalDepth = 1045.255274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.525437 # Actual altitude: 53.525437 # Commanded vehicle depth: 1045.255274 # Seafloor depth: -1085.729170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 42.261285 meters # Minimum depth: 1085.255274 meters looking forward 200.000000 meters along route # Maximum depth: 1087.213296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.255274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763611; longitude = -121.854571; duration = 169; # abortOnTimeout = True; initialDepth = 1044.536579; finalDepth = 1045.255274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.9404959999999 # Actual altitude: 41.9404959999999 # Commanded vehicle depth: 1045.255274 # Seafloor depth: -1087.195770 # behavior reson { duration = 6; MB_Range = 167.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.76; 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 135.615381 meters # Minimum depth: 1084.536579 meters looking forward 200.000000 meters along route # Maximum depth: 1087.213296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.536579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763331; longitude = -121.854254; duration = 542; # abortOnTimeout = True; initialDepth = 1044.536579; finalDepth = 1044.536579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.9404959999999 # Actual altitude: 41.9404959999999 # Commanded vehicle depth: 1044.536579 # Seafloor depth: -1085.620850 # behavior reson { duration = 6; MB_Range = 167.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 167.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.242444 meters # Minimum depth: 1084.536579 meters looking forward 200.000000 meters along route # Maximum depth: 1105.590482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.536579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764206; longitude = -121.853207; duration = 400; initialDepth = 1044.805221; finalDepth = 1044.536579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.0842709999999 # Actual altitude: 41.0842709999999 # Commanded vehicle depth: 1044.536579 # Seafloor depth: -1084.714085 # behavior reson { duration = 6; MB_Range = 164.34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.65; MB_Bottom_Detect_Filter_Max_Range = 164.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 101.043174 meters # Minimum depth: 1084.805221 meters looking forward 200.000000 meters along route # Maximum depth: 1105.595480 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.805221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764853; longitude = -121.852433; duration = 404; initialDepth = 1044.739517; finalDepth = 1044.805221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7902589999999 # Actual altitude: 60.7902589999999 # Commanded vehicle depth: 1044.805221 # Seafloor depth: -1105.595480 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.440120 meters # Minimum depth: 1084.739517 meters looking forward 200.000000 meters along route # Maximum depth: 1105.542265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1044.739517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765506; longitude = -121.851653; duration = 401; initialDepth = 1043.591579; finalDepth = 1044.739517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.7902589999999 # Actual altitude: 60.7902589999999 # Commanded vehicle depth: 1044.739517 # Seafloor depth: -1089.219370 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 40.501026 meters # Minimum depth: 1083.591579 meters looking forward 200.000000 meters along route # Maximum depth: 1101.623506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.591579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.766154; longitude = -121.850877; duration = 162; # abortOnTimeout = True; initialDepth = 1043.310531; finalDepth = 1043.591579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.479853 # Actual altitude: 44.479853 # Commanded vehicle depth: 1043.591579 # Seafloor depth: -1084.804779 # behavior reson { duration = 6; MB_Range = 177.92; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 177.92; 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 136.594948 meters # Minimum depth: 1083.310531 meters looking forward 200.000000 meters along route # Maximum depth: 1098.433053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.310531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765896; longitude = -121.850560; duration = 546; # abortOnTimeout = True; initialDepth = 1043.421909; finalDepth = 1043.310531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.2132000000001 # Actual altitude: 41.2132000000001 # Commanded vehicle depth: 1043.310531 # Seafloor depth: -1083.559540 # behavior reson { duration = 6; MB_Range = 164.85; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.73; MB_Bottom_Detect_Filter_Max_Range = 164.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.263230 meters # Minimum depth: 1083.421909 meters looking forward 200.000000 meters along route # Maximum depth: 1104.474609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.421909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765014; longitude = -121.851615; duration = 401; initialDepth = 1043.599341; finalDepth = 1043.421909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1734170000002 # Actual altitude: 55.1734170000002 # Commanded vehicle depth: 1043.421909 # Seafloor depth: -1098.595326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.062284 meters # Minimum depth: 1083.599341 meters looking forward 200.000000 meters along route # Maximum depth: 1104.474609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.599341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764367; longitude = -121.852389; duration = 404; initialDepth = 1043.599341; finalDepth = 1043.599341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1734170000002 # Actual altitude: 55.1734170000002 # Commanded vehicle depth: 1043.599341 # Seafloor depth: -1094.402560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.419135 meters # Minimum depth: 1083.599341 meters looking forward 200.000000 meters along route # Maximum depth: 1093.764003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.599341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763714; longitude = -121.853169; duration = 401; initialDepth = 1043.274017; finalDepth = 1043.599341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8032189999999 # Actual altitude: 50.8032189999999 # Commanded vehicle depth: 1043.599341 # Seafloor depth: -1083.751820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 42.497815 meters # Minimum depth: 1083.274017 meters looking forward 200.000000 meters along route # Maximum depth: 1085.075317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.274017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763066; longitude = -121.853944; duration = 169; # abortOnTimeout = True; initialDepth = 1042.639843; finalDepth = 1043.274017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.0502320000001 # Actual altitude: 41.0502320000001 # Commanded vehicle depth: 1043.274017 # Seafloor depth: -1084.324249 # behavior reson { duration = 6; MB_Range = 164.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 164.20; 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 139.067229 meters # Minimum depth: 1082.639843 meters looking forward 200.000000 meters along route # Maximum depth: 1084.434269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.639843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762778; longitude = -121.853634; duration = 556; # abortOnTimeout = True; initialDepth = 1042.639843; finalDepth = 1042.639843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.0502320000001 # Actual altitude: 41.0502320000001 # Commanded vehicle depth: 1042.639843 # Seafloor depth: -1083.261444 # behavior reson { duration = 6; MB_Range = 164.20; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 164.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.800271 meters # Minimum depth: 1082.639843 meters looking forward 200.000000 meters along route # Maximum depth: 1100.214025 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.639843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763680; longitude = -121.852565; duration = 403; initialDepth = 1043.374502; finalDepth = 1042.639843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.6216010000001 # Actual altitude: 40.6216010000001 # Commanded vehicle depth: 1042.639843 # Seafloor depth: -1083.143369 # behavior reson { duration = 6; MB_Range = 162.49; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.37; MB_Bottom_Detect_Filter_Max_Range = 162.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 102.305692 meters # Minimum depth: 1083.374502 meters looking forward 200.000000 meters along route # Maximum depth: 1104.067311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1043.374502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764334; longitude = -121.851791; duration = 409; initialDepth = 1042.312753; finalDepth = 1043.374502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.849451 # Actual altitude: 56.849451 # Commanded vehicle depth: 1043.374502 # Seafloor depth: -1100.223953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.073902 meters # Minimum depth: 1082.312753 meters looking forward 200.000000 meters along route # Maximum depth: 1104.067311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.312753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764997; longitude = -121.851005; duration = 400; initialDepth = 1041.390294; finalDepth = 1042.312753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.849451 # Actual altitude: 56.849451 # Commanded vehicle depth: 1042.312753 # Seafloor depth: -1088.208442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.11; 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 16 # Segment length 41.932081 meters # Minimum depth: 1081.390294 meters looking forward 200.000000 meters along route # Maximum depth: 1103.517089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.390294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765646; longitude = -121.850236; duration = 167; # abortOnTimeout = True; initialDepth = 1041.235620; finalDepth = 1041.390294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.8956890000002 # Actual altitude: 45.8956890000002 # Commanded vehicle depth: 1041.390294 # Seafloor depth: -1082.527069 # behavior reson { duration = 6; MB_Range = 183.58; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 183.58; 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 139.515952 meters # Minimum depth: 1081.235620 meters looking forward 200.000000 meters along route # Maximum depth: 1100.062661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.235620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765388; longitude = -121.849897; duration = 558; # abortOnTimeout = True; initialDepth = 1041.515651; finalDepth = 1041.235620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.1367749999999 # Actual altitude: 41.1367749999999 # Commanded vehicle depth: 1041.23562 # Seafloor depth: -1081.371948 # behavior reson { duration = 6; MB_Range = 164.55; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 164.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.346670 meters # Minimum depth: 1081.515651 meters looking forward 200.000000 meters along route # Maximum depth: 1104.656322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.515651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764487; longitude = -121.850973; duration = 401; initialDepth = 1041.759636; finalDepth = 1041.515651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.639887 # Actual altitude: 58.639887 # Commanded vehicle depth: 1041.515651 # Seafloor depth: -1100.155538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 101.317393 meters # Minimum depth: 1081.759636 meters looking forward 200.000000 meters along route # Maximum depth: 1104.656322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.759636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763838; longitude = -121.851747; duration = 405; initialDepth = 1041.686677; finalDepth = 1041.759636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.639887 # Actual altitude: 58.639887 # Commanded vehicle depth: 1041.759636 # Seafloor depth: -1094.271948 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.376446 meters # Minimum depth: 1081.686677 meters looking forward 200.000000 meters along route # Maximum depth: 1093.971770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.686677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763184; longitude = -121.852529; duration = 401; initialDepth = 1041.450672; finalDepth = 1041.686677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.5123120000001 # Actual altitude: 52.5123120000001 # Commanded vehicle depth: 1041.686677 # Seafloor depth: -1081.752992 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 42.089864 meters # Minimum depth: 1081.450672 meters looking forward 200.000000 meters along route # Maximum depth: 1085.476714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.450672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762535; longitude = -121.853303; duration = 168; # abortOnTimeout = True; initialDepth = 1041.082009; finalDepth = 1041.450672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.662151 # Actual altitude: 40.662151 # Commanded vehicle depth: 1041.450672 # Seafloor depth: -1082.112823 # behavior reson { duration = 6; MB_Range = 162.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 162.65; 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 139.133812 meters # Minimum depth: 1081.082009 meters looking forward 200.000000 meters along route # Maximum depth: 1084.232357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.082009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762269; longitude = -121.852971; duration = 556; # abortOnTimeout = True; initialDepth = 1041.082009; finalDepth = 1041.082009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.662151 # Actual altitude: 40.662151 # Commanded vehicle depth: 1041.082009 # Seafloor depth: -1081.427429 # behavior reson { duration = 6; MB_Range = 162.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.40; MB_Bottom_Detect_Filter_Max_Range = 162.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.777974 meters # Minimum depth: 1081.082009 meters looking forward 200.000000 meters along route # Maximum depth: 1098.523664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.082009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763171; longitude = -121.851902; duration = 403; initialDepth = 1045.303357; finalDepth = 1041.082009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 43.3923870000001 # Actual altitude: 43.3923870000001 # Commanded vehicle depth: 1041.082009 # Seafloor depth: -1084.474396 # behavior reson { duration = 6; MB_Range = 173.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 173.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.301763 meters # Minimum depth: 1085.303357 meters looking forward 200.000000 meters along route # Maximum depth: 1103.467839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1045.303357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763825; longitude = -121.851128; duration = 409; initialDepth = 1040.119400; finalDepth = 1045.303357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2269249999999 # Actual altitude: 53.2269249999999 # Commanded vehicle depth: 1045.303357 # Seafloor depth: -1098.530282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 101.095916 meters # Minimum depth: 1080.119400 meters looking forward 200.000000 meters along route # Maximum depth: 1103.467839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.119400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764488; longitude = -121.850342; duration = 404; initialDepth = 1038.983139; finalDepth = 1040.119400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.2269249999999 # Actual altitude: 53.2269249999999 # Commanded vehicle depth: 1040.1194 # Seafloor depth: -1085.962431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 40.336374 meters # Minimum depth: 1078.983139 meters looking forward 200.000000 meters along route # Maximum depth: 1102.830777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.983139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.765144; longitude = -121.849565; duration = 161; # abortOnTimeout = True; initialDepth = 1038.932220; finalDepth = 1038.983139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.8430309999999 # Actual altitude: 45.8430309999999 # Commanded vehicle depth: 1038.983139 # Seafloor depth: -1080.149933 # behavior reson { duration = 6; MB_Range = 183.37; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.51; MB_Bottom_Detect_Filter_Max_Range = 183.37; 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 142.058490 meters # Minimum depth: 1078.932220 meters looking forward 200.000000 meters along route # Maximum depth: 1094.034520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.932220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764894; longitude = -121.849241; duration = 568; # abortOnTimeout = True; initialDepth = 1039.654467; finalDepth = 1038.932220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.166794 # Actual altitude: 41.166794 # Commanded vehicle depth: 1038.93222 # Seafloor depth: -1078.957275 # behavior reson { duration = 6; MB_Range = 164.67; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.70; MB_Bottom_Detect_Filter_Max_Range = 164.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.093247 meters # Minimum depth: 1079.654467 meters looking forward 200.000000 meters along route # Maximum depth: 1101.254369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.654467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763972; longitude = -121.850332; duration = 404; initialDepth = 1041.460928; finalDepth = 1039.654467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.756723 # Actual altitude: 54.756723 # Commanded vehicle depth: 1039.654467 # Seafloor depth: -1094.411190 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.512550 meters # Minimum depth: 1081.460928 meters looking forward 200.000000 meters along route # Maximum depth: 1101.254369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.460928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763316; longitude = -121.851108; duration = 402; initialDepth = 1040.562658; finalDepth = 1041.460928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.756723 # Actual altitude: 54.756723 # Commanded vehicle depth: 1041.460928 # Seafloor depth: -1093.515842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 101.722101 meters # Minimum depth: 1080.562658 meters looking forward 200.000000 meters along route # Maximum depth: 1093.282800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.562658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762664; longitude = -121.851880; duration = 406; initialDepth = 1040.335915; finalDepth = 1040.562658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.0549140000001 # Actual altitude: 52.0549140000001 # Commanded vehicle depth: 1040.562658 # Seafloor depth: -1081.371224 # 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; } # ####################################################### # # 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 40.413512 meters # Minimum depth: 1080.335915 meters looking forward 200.000000 meters along route # Maximum depth: 1089.774841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.335915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762004; longitude = -121.852661; duration = 161; # abortOnTimeout = True; initialDepth = 1040.050921; finalDepth = 1040.335915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 40.8085659999999 # Actual altitude: 40.8085659999999 # Commanded vehicle depth: 1040.335915 # Seafloor depth: -1080.916626 # behavior reson { duration = 6; MB_Range = 163.23; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 163.23; 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 144.461696 meters # Minimum depth: 1080.050921 meters looking forward 200.000000 meters along route # Maximum depth: 1089.213626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.050921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761753; longitude = -121.852337; duration = 577; # abortOnTimeout = True; initialDepth = 1040.065422; finalDepth = 1040.050921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.5807109999998 # Actual altitude: 40.5807109999998 # Commanded vehicle depth: 1040.050921 # Seafloor depth: -1080.358246 # behavior reson { duration = 6; MB_Range = 162.32; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.35; MB_Bottom_Detect_Filter_Max_Range = 162.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.528367 meters # Minimum depth: 1080.065422 meters looking forward 200.000000 meters along route # Maximum depth: 1100.074023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.065422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762697; longitude = -121.851236; duration = 406; initialDepth = 1042.859802; finalDepth = 1040.065422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.1913920000002 # Actual altitude: 49.1913920000002 # Commanded vehicle depth: 1040.065422 # Seafloor depth: -1089.256814 # behavior reson { duration = 6; MB_Range = 196.77; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.51; MB_Bottom_Detect_Filter_Max_Range = 196.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 101.527991 meters # Minimum depth: 1082.859802 meters looking forward 200.000000 meters along route # Maximum depth: 1100.153662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.859802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763360; longitude = -121.850463; duration = 406; initialDepth = 1037.956023; finalDepth = 1042.859802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2257590000002 # Actual altitude: 57.2257590000002 # Commanded vehicle depth: 1042.859802 # Seafloor depth: -1100.085561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.395902 meters # Minimum depth: 1077.956023 meters looking forward 200.000000 meters along route # Maximum depth: 1100.153662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.956023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764024; longitude = -121.849689; duration = 401; initialDepth = 1037.060115; finalDepth = 1037.956023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.2257590000002 # Actual altitude: 57.2257590000002 # Commanded vehicle depth: 1037.956023 # Seafloor depth: -1082.837744 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.34; 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 8 # Segment length 41.944463 meters # Minimum depth: 1077.060115 meters looking forward 200.000000 meters along route # Maximum depth: 1093.291872 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.060115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764680; longitude = -121.848924; duration = 167; # abortOnTimeout = True; initialDepth = 1037.048279; finalDepth = 1037.060115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.881721 # Actual altitude: 44.881721 # Commanded vehicle depth: 1037.060115 # Seafloor depth: -1077.952759 # behavior reson { duration = 6; MB_Range = 179.53; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 179.53; 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 148.564816 meters # Minimum depth: 1077.048279 meters looking forward 200.000000 meters along route # Maximum depth: 1086.292895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.048279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764429; longitude = -121.848577; duration = 594; # abortOnTimeout = True; initialDepth = 1038.695008; finalDepth = 1037.048279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.892644 # Actual altitude: 40.892644 # Commanded vehicle depth: 1037.048279 # Seafloor depth: -1077.048279 # behavior reson { duration = 6; MB_Range = 163.57; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 163.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.263450 meters # Minimum depth: 1078.695008 meters looking forward 200.000000 meters along route # Maximum depth: 1098.860163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.695008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763461; longitude = -121.849713; duration = 405; initialDepth = 1042.187806; finalDepth = 1038.695008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 47.8097290000001 # Actual altitude: 47.8097290000001 # Commanded vehicle depth: 1038.695008 # Seafloor depth: -1086.504737 # behavior reson { duration = 6; MB_Range = 191.24; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.69; MB_Bottom_Detect_Filter_Max_Range = 191.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.263825 meters # Minimum depth: 1082.187806 meters looking forward 200.000000 meters along route # Maximum depth: 1098.860163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1042.187806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762801; longitude = -121.850487; duration = 405; initialDepth = 1039.846342; finalDepth = 1042.187806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.699069 # Actual altitude: 54.699069 # Commanded vehicle depth: 1042.187806 # Seafloor depth: -1096.886875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.254712 meters # Minimum depth: 1079.846342 meters looking forward 200.000000 meters along route # Maximum depth: 1096.618191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.846342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762141; longitude = -121.851261; duration = 401; initialDepth = 1039.846342; finalDepth = 1039.846342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.699069 # Actual altitude: 54.699069 # Commanded vehicle depth: 1039.846342 # Seafloor depth: -1082.120226 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 41.933215 meters # Minimum depth: 1079.846342 meters looking forward 200.000000 meters along route # Maximum depth: 1091.844918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.846342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761488; longitude = -121.852027; duration = 167; # abortOnTimeout = True; initialDepth = 1039.542667; finalDepth = 1039.846342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 42.273884 # Actual altitude: 42.273884 # Commanded vehicle depth: 1039.846342 # Seafloor depth: -1080.335114 # behavior reson { duration = 6; MB_Range = 169.10; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 169.10; 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 149.574648 meters # Minimum depth: 1079.542667 meters looking forward 200.000000 meters along route # Maximum depth: 1092.716095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.542667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761230; longitude = -121.851688; duration = 598; # abortOnTimeout = True; initialDepth = 1039.542667; finalDepth = 1039.542667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.789914 # Actual altitude: 40.789914 # Commanded vehicle depth: 1039.542667 # Seafloor depth: -1080.332581 # behavior reson { duration = 6; MB_Range = 163.16; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.47; MB_Bottom_Detect_Filter_Max_Range = 163.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.065674 meters # Minimum depth: 1079.542667 meters looking forward 200.000000 meters along route # Maximum depth: 1099.852995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.542667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762211; longitude = -121.850553; duration = 404; initialDepth = 1040.903638; finalDepth = 1039.542667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1844579999999 # Actual altitude: 53.1844579999999 # Commanded vehicle depth: 1039.542667 # Seafloor depth: -1092.727125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.027627 meters # Minimum depth: 1080.903638 meters looking forward 200.000000 meters along route # Maximum depth: 1099.852995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1040.903638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762874; longitude = -121.849786; duration = 400; initialDepth = 1036.621721; finalDepth = 1040.903638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1844579999999 # Actual altitude: 53.1844579999999 # Commanded vehicle depth: 1040.903638 # Seafloor depth: -1092.641656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 101.079688 meters # Minimum depth: 1076.621721 meters looking forward 200.000000 meters along route # Maximum depth: 1091.740368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1036.621721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763530; longitude = -121.849027; duration = 404; initialDepth = 1035.842705; finalDepth = 1036.621721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.738018 # Actual altitude: 51.738018 # Commanded vehicle depth: 1036.621721 # Seafloor depth: -1080.855746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 40.274772 meters # Minimum depth: 1075.842705 meters looking forward 200.000000 meters along route # Maximum depth: 1084.756764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.842705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.764193; longitude = -121.848260; duration = 161; # abortOnTimeout = True; initialDepth = 1035.803108; finalDepth = 1035.842705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.234025 # Actual altitude: 44.234025 # Commanded vehicle depth: 1035.842705 # Seafloor depth: -1076.549469 # behavior reson { duration = 6; MB_Range = 176.94; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 176.94; 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 149.558615 meters # Minimum depth: 1075.803108 meters looking forward 200.000000 meters along route # Maximum depth: 1081.581227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.803108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763950; longitude = -121.847929; duration = 598; # abortOnTimeout = True; initialDepth = 1038.650226; finalDepth = 1035.803108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 40.706764 # Actual altitude: 40.706764 # Commanded vehicle depth: 1035.803108 # Seafloor depth: -1075.821686 # behavior reson { duration = 6; MB_Range = 162.83; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 162.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.472357 meters # Minimum depth: 1078.650226 meters looking forward 200.000000 meters along route # Maximum depth: 1097.381911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.650226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762962; longitude = -121.849055; duration = 401; initialDepth = 1041.674000; finalDepth = 1038.650226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 42.941073 # Actual altitude: 42.941073 # Commanded vehicle depth: 1038.650226 # Seafloor depth: -1081.591299 # behavior reson { duration = 6; MB_Range = 171.76; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 171.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.374352 meters # Minimum depth: 1081.674000 meters looking forward 200.000000 meters along route # Maximum depth: 1099.248003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1041.674000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762299; longitude = -121.849812; duration = 405; initialDepth = 1038.807262; finalDepth = 1041.674000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.967627 # Actual altitude: 55.967627 # Commanded vehicle depth: 1041.674 # Seafloor depth: -1097.641627 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 101.845551 meters # Minimum depth: 1078.807262 meters looking forward 200.000000 meters along route # Maximum depth: 1099.248003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.807262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761630; longitude = -121.850575; duration = 407; initialDepth = 1038.414586; finalDepth = 1038.807262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.967627 # Actual altitude: 55.967627 # Commanded vehicle depth: 1038.807262 # Seafloor depth: -1083.965434 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 40.342859 meters # Minimum depth: 1078.414586 meters looking forward 200.000000 meters along route # Maximum depth: 1095.883925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.414586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760957; longitude = -121.851342; duration = 161; # abortOnTimeout = True; initialDepth = 1037.916727; finalDepth = 1038.414586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 45.1581719999999 # Actual altitude: 45.1581719999999 # Commanded vehicle depth: 1038.414586 # Seafloor depth: -1079.450043 # behavior reson { duration = 6; MB_Range = 180.63; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 180.63; 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 152.426873 meters # Minimum depth: 1077.916727 meters looking forward 200.000000 meters along route # Maximum depth: 1095.527277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1037.916727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.760714; longitude = -121.851010; duration = 609; # abortOnTimeout = True; initialDepth = 1038.253167; finalDepth = 1037.916727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 41.035457 # Actual altitude: 41.035457 # Commanded vehicle depth: 1037.916727 # Seafloor depth: -1078.401978 # behavior reson { duration = 6; MB_Range = 164.14; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.62; MB_Bottom_Detect_Filter_Max_Range = 164.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.161709 meters # Minimum depth: 1078.253167 meters looking forward 200.000000 meters along route # Maximum depth: 1096.923073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1038.253167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.761724; longitude = -121.849867; duration = 400; initialDepth = 1039.566034; finalDepth = 1038.253167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2801439999998 # Actual altitude: 57.2801439999998 # Commanded vehicle depth: 1038.253167 # Seafloor depth: -1095.533311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.250562 meters # Minimum depth: 1079.566034 meters looking forward 200.000000 meters along route # Maximum depth: 1096.923073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1039.566034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.762388; longitude = -121.849115; duration = 401; initialDepth = 1035.432964; finalDepth = 1039.566034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2801439999998 # Actual altitude: 57.2801439999998 # Commanded vehicle depth: 1039.566034 # Seafloor depth: -1082.304515 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 102.202912 meters # Minimum depth: 1075.432964 meters looking forward 200.000000 meters along route # Maximum depth: 1082.135922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1159.038612 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 38.000000 meters # Behavior depth of 1035.432964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 35.763052; longitude = -121.848364; duration = 408; initialDepth = 1035.383881; finalDepth = 1035.432964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 44.1624049999998 # Actual altitude: 44.1624049999998 # Commanded vehicle depth: 1035.432964 # Seafloor depth: -1079.595369 # behavior reson { duration = 6; MB_Range = 176.65; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 176.65; 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: 44.1624049999998 # Sonar parameter altitude: 44.1624049999998 # Commanded vehicle depth: 1035.383881 # Seafloor depth: -1075.383881 # 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 = 176.65; MB_Rate = 3; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000066; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 176.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 102.202912 meters # Minimum depth: 1075.383881 meters looking forward 200.000000 meters along route # Maximum depth: 1082.135922 meters looking forward 200.000000 meters along route # Vehicle depth: 1035.383881 meters behavior waypoint { latitude = 35.763729; longitude = -121.847597; duration = 2070; depth = 1035.383881; 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 1035.383881 meters set by local depth and desired altitude behavior descend { duration = 3868; horizontalMode = rudder; horizontal = 2.000000; pitch = -45.000000; speed = 1.500000; maxDepth = 1025.383881; minAltitude = 40.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 102.202912 meters # Minimum depth: 1075.383881 meters looking forward 200.000000 meters along route # Maximum depth: 1082.135922 meters looking forward 200.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.763729; longitude = -121.847597; 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 = 200.0; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 38.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 200.0; 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 = 160.00; MB_Rate = 3; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000066; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################