# 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: # : mbm_route2mission 2295 2017-03-27 07:28:28Z caress r # # Mission Summary: # Route File: KPCU_600m_m1_v5.rte # Mission File: KPCU_600m_m1_v5.cfg # Distance: 96832.827955 (m) # Estimated Time: 66177 (s) 18.383 (hr) # Abort Time: 72690 (s) # Max battery life: 75600 (s) # Safety margin: 1800 (s) # Ascend time: 1109 (s) # Way Points: 107 # Route Points: 822 # 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: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 30 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 0.001 usec # Multibeam minimum range fraction: 0.5 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 30 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 748.336442 (m) # Abort Vehicle Depth: 773.336442 (m) # Descent Vehicle Depth: 3 (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: # # 0 120.307573 22.408032 -90.830282 0.000000 3 # 1 120.312573 22.374395 -579.877151 3764.125565 1 # 2 120.316210 22.369850 -539.408600 4392.161942 1 # 3 120.307876 22.365153 -580.137512 5396.845196 1 # 4 120.294240 22.359244 -609.069229 6947.862806 1 # 5 120.279846 22.354850 -617.218094 8509.856264 1 # 6 120.268331 22.348789 -655.511032 9874.060288 1 # 7 120.261513 22.346062 -675.724442 10639.305065 1 # 8 120.254846 22.343486 -692.051270 11383.699597 1 # 9 120.249846 22.341214 -700.106964 11957.490123 1 # 10 120.249695 22.338335 -705.603241 12276.989485 1 # 11 120.252876 22.334698 -710.374084 12796.718735 1 # 12 120.255604 22.332880 -711.107010 13142.761082 1 # 13 120.258077 22.331767 -713.041290 13426.055310 1 # 14 120.271967 22.333789 -743.610580 14875.853499 1 # 15 120.279787 22.330181 -759.392776 15776.005679 1 # 16 120.278914 22.329308 -755.461548 15908.177744 1 # 17 120.271634 22.332608 -740.273468 16743.297550 1 # 18 120.257657 22.330667 -716.321503 18200.618762 1 # 19 120.254695 22.331517 -716.706223 18520.269341 1 # 20 120.251967 22.333789 -711.603958 18897.841308 1 # 21 120.248331 22.338335 -709.793320 19525.926597 1 # 22 120.248483 22.341668 -712.349869 19895.701384 1 # 23 120.254240 22.344698 -698.850189 20577.749744 1 # 24 120.267573 22.349850 -655.897781 22066.424406 1 # 25 120.279205 22.356000 -646.767685 23445.979775 1 # 26 120.293786 22.360607 -608.962738 25033.726477 1 # 27 120.307119 22.366214 -584.746704 26542.374610 1 # 28 120.319392 22.373486 -532.259583 28042.668341 1 # 29 120.324392 22.376668 -518.395981 28667.278609 1 # 30 120.323482 22.377577 -519.240540 28804.955325 1 # 31 120.306210 22.367123 -592.961151 30929.522549 1 # 32 120.293483 22.361668 -616.714737 32374.325760 1 # 33 120.278483 22.357123 -652.193130 34000.883380 1 # 34 120.266967 22.351062 -658.708374 35365.158814 1 # 35 120.253483 22.345759 -699.174103 36874.651381 1 # 36 120.247119 22.342123 -708.857819 37644.744634 1 # 37 120.246967 22.338335 -710.960876 38064.912993 1 # 38 120.251058 22.332880 -714.889694 38802.185301 1 # 39 120.253937 22.330304 -717.243652 39214.098748 1 # 40 120.257204 22.329243 -718.685089 39570.940737 1 # 41 120.271375 22.331378 -738.331161 41051.349859 1 # 42 120.278331 22.327880 -750.544846 41866.776432 1 # 43 120.277573 22.326668 -737.321121 42022.209640 1 # 44 120.271210 22.329850 -732.269348 42767.190403 1 # 45 120.256977 22.327658 -724.034698 44254.945998 1 # 46 120.253331 22.329244 -716.203979 44670.006989 1 # 47 120.249695 22.331971 -719.506165 45151.628004 1 # 48 120.245604 22.338335 -708.845551 45973.557497 1 # 49 120.245604 22.342426 -700.020737 46427.018512 1 # 50 120.252876 22.346971 -685.822006 47330.371886 1 # 51 120.266210 22.352123 -664.219528 48819.119440 1 # 52 120.277876 22.358335 -655.083679 50205.106350 1 # 53 120.292876 22.362880 -624.257462 51831.650380 1 # 54 120.305149 22.368335 -595.639404 53234.067876 1 # 55 120.318331 22.375607 -543.033600 54814.184816 1 # 56 120.315149 22.375153 -556.347702 55146.072470 1 # 57 120.304392 22.369395 -588.491196 56425.647001 1 # 58 120.291967 22.364244 -623.723007 57828.155976 1 # 59 120.277119 22.359395 -653.490646 59450.642265 1 # 60 120.265604 22.353335 -661.630630 60814.755050 1 # 61 120.260149 22.351062 -677.560837 61431.060969 1 # 62 120.250149 22.346971 -656.583801 62557.465381 1 # 63 120.251210 22.338486 -694.225861 63504.319034 1 # 64 120.253937 22.335759 -698.725510 63917.167005 1 # 65 120.256513 22.334244 -668.208313 64231.432924 1 # 66 120.258483 22.333032 -691.045853 64474.984758 1 # 67 120.270301 22.334850 -727.054703 65710.222077 1 # 68 120.266967 22.335607 -692.235825 66064.118515 1 # 69 120.258786 22.334244 -655.330002 66921.169224 1 # 70 120.254846 22.336668 -667.677917 67408.268231 1 # 71 120.251210 22.340759 -675.954254 67996.659400 1 # 72 120.242877 22.339244 -691.135559 68872.175709 1 # 73 120.242877 22.343335 -668.133514 69325.635715 1 # 74 120.248331 22.346517 -659.776764 69989.459072 1 # 75 120.250604 22.346517 -677.655182 70223.829954 1 # 76 120.244240 22.342880 -691.664551 70993.976320 1 # 77 120.244240 22.338335 -707.545761 71497.759740 1 # 78 120.248483 22.331214 -725.343933 72400.233064 1 # 79 120.252422 22.327880 -722.242905 72949.387695 1 # 80 120.256664 22.326668 -721.764404 73407.009530 1 # 81 120.271210 22.328486 -727.802368 74920.556245 1 # 82 120.276058 22.326517 -732.070282 75466.079099 1 # 83 120.278483 22.331668 -748.857468 76089.414608 1 # 84 120.287876 22.326062 -729.777206 77240.270824 1 # 85 120.296664 22.313032 -756.020477 78945.439169 1 # 86 120.295301 22.312577 -774.822906 79094.792369 1 # 87 120.286967 22.325153 -761.077057 80732.497122 1 # 88 120.277422 22.330608 -752.612427 81887.734502 1 # 89 120.276664 22.329395 -745.788498 82043.262673 1 # 90 120.286210 22.324395 -766.715927 83173.014257 1 # 91 120.293937 22.312123 -771.629028 84749.581454 1 # 92 120.292876 22.311517 -769.541031 84877.985659 1 # 93 120.285604 22.323335 -764.744461 86387.486330 1 # 94 120.276210 22.328032 -740.333557 87487.319985 1 # 95 120.275301 22.327123 -721.191879 87624.942991 1 # 96 120.284695 22.322426 -761.677155 88724.781306 1 # 97 120.291513 22.311062 -763.672165 90167.428772 1 # 98 120.290301 22.310759 -759.358292 90296.868771 1 # 99 120.283937 22.321668 -752.427765 91672.751129 1 # 100 120.276513 22.325608 -714.107025 92554.194784 1 # 101 120.278331 22.323335 -699.773804 92868.253792 1 # 102 120.283331 22.320608 -724.996140 93465.979603 1 # 103 120.288937 22.310304 -752.001389 94746.154717 1 # 104 120.287876 22.309698 -724.910995 94874.559573 1 # 105 120.283937 22.316668 -726.837219 95747.466648 1 # 106 120.290604 22.324244 -739.401718 96832.827955 4 # # A total of 822 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 63000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 748.336442; abortDepth = 773.336442; minAltitude = 50.000000; abortAltitude = 20.000000; deltaDepthRestart = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1109; 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 106 # Segment length 172.705227 meters # Minimum depth: 739.401718 meters looking forward 200.000000 meters along route # Maximum depth: 764.361350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.401718 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324244; longitude = 120.290604; duration = 690; # abortOnTimeout = True; initialDepth = 704.958223; finalDepth = 689.401718; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 689.401718 # Seafloor depth: -739.401718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 109.495892 meters # Minimum depth: 754.958223 meters looking forward 200.000000 meters along route # Maximum depth: 769.801708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.958223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323038; longitude = 120.289543; duration = 437; initialDepth = 713.687416; finalDepth = 704.958223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4539110000001 # Actual altitude: 61.4539110000001 # Commanded vehicle depth: 704.958223 # Seafloor depth: -766.412134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 130.238693 meters # Minimum depth: 763.687416 meters looking forward 200.000000 meters along route # Maximum depth: 769.801708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.687416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322274; longitude = 120.288871; duration = 520; initialDepth = 709.310022; finalDepth = 713.687416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4539110000001 # Actual altitude: 61.4539110000001 # Commanded vehicle depth: 713.687416 # Seafloor depth: -769.671382 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 130.255097 meters # Minimum depth: 759.310022 meters looking forward 200.000000 meters along route # Maximum depth: 766.271581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.310022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321365; longitude = 120.288071; duration = 521; initialDepth = 709.309734; finalDepth = 709.310022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.983966 # Actual altitude: 55.983966 # Commanded vehicle depth: 709.310022 # Seafloor depth: -762.789713 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 147.996421 meters # Minimum depth: 759.309734 meters looking forward 200.000000 meters along route # Maximum depth: 763.530110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.309734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320456; longitude = 120.287270; duration = 591; initialDepth = 709.403495; finalDepth = 709.309734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.479691 # Actual altitude: 53.479691 # Commanded vehicle depth: 709.309734 # Seafloor depth: -759.309734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 112.466015 meters # Minimum depth: 759.403495 meters looking forward 200.000000 meters along route # Maximum depth: 764.094555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.403495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319423; longitude = 120.286361; duration = 449; initialDepth = 697.628909; finalDepth = 709.403495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.69106 # Actual altitude: 54.69106 # Commanded vehicle depth: 709.403495 # Seafloor depth: -764.094555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 130.239663 meters # Minimum depth: 747.628909 meters looking forward 200.000000 meters along route # Maximum depth: 763.251649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.628909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318638; longitude = 120.285670; duration = 520; initialDepth = 680.982650; finalDepth = 697.628909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.086446 # Actual altitude: 60.086446 # Commanded vehicle depth: 697.628909 # Seafloor depth: -757.715355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 151.964299 meters # Minimum depth: 730.982650 meters looking forward 200.000000 meters along route # Maximum depth: 747.628909 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.982650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317729; longitude = 120.284870; duration = 607; initialDepth = 676.837219; finalDepth = 680.982650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.560706 # Actual altitude: 64.560706 # Commanded vehicle depth: 680.98265 # Seafloor depth: -745.543356 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 105 # Segment length 134.321333 meters # Minimum depth: 726.837219 meters looking forward 200.000000 meters along route # Maximum depth: 734.115528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.837219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316668; longitude = 120.283937; duration = 537; # abortOnTimeout = True; initialDepth = 674.135189; finalDepth = 676.837219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.560706 # Actual altitude: 64.560706 # Commanded vehicle depth: 676.837219 # Seafloor depth: -726.837219 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 105 # Segment length 100.729622 meters # Minimum depth: 724.135189 meters looking forward 200.000000 meters along route # Maximum depth: 734.115528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.135189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315595; longitude = 120.284543; duration = 402; initialDepth = 674.135189; finalDepth = 674.135189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8635750000001 # Actual altitude: 54.8635750000001 # Commanded vehicle depth: 674.135189 # Seafloor depth: -728.998764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 100.729780 meters # Minimum depth: 724.135189 meters looking forward 200.000000 meters along route # Maximum depth: 727.245570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.135189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314791; longitude = 120.284998; duration = 402; initialDepth = 668.831308; finalDepth = 674.135189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8635750000001 # Actual altitude: 54.8635750000001 # Commanded vehicle depth: 674.135189 # Seafloor depth: -725.072828 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 100.729939 meters # Minimum depth: 718.831308 meters looking forward 200.000000 meters along route # Maximum depth: 726.772785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.831308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313987; longitude = 120.285452; duration = 402; initialDepth = 668.831308; finalDepth = 668.831308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.481332 # Actual altitude: 57.481332 # Commanded vehicle depth: 668.831308 # Seafloor depth: -726.312640 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 100.730096 meters # Minimum depth: 718.831308 meters looking forward 200.000000 meters along route # Maximum depth: 723.468157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.831308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313183; longitude = 120.285907; duration = 402; initialDepth = 673.109247; finalDepth = 668.831308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.481332 # Actual altitude: 57.481332 # Commanded vehicle depth: 668.831308 # Seafloor depth: -718.833631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 100.730256 meters # Minimum depth: 723.109247 meters looking forward 200.000000 meters along route # Maximum depth: 739.016121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.109247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312378; longitude = 120.286361; duration = 402; initialDepth = 682.788213; finalDepth = 673.109247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.624062 # Actual altitude: 57.624062 # Commanded vehicle depth: 673.109247 # Seafloor depth: -730.733309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 100.730413 meters # Minimum depth: 732.788213 meters looking forward 200.000000 meters along route # Maximum depth: 740.278254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.788213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.311574; longitude = 120.286816; duration = 402; initialDepth = 674.196674; finalDepth = 682.788213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.624062 # Actual altitude: 57.624062 # Commanded vehicle depth: 682.788213 # Seafloor depth: -739.853197 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 105 # Segment length 134.205636 meters # Minimum depth: 724.196674 meters looking forward 200.000000 meters along route # Maximum depth: 736.476773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.196674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.310770; longitude = 120.287270; duration = 536; initialDepth = 674.196674; finalDepth = 674.196674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.303667 # Actual altitude: 60.303667 # Commanded vehicle depth: 674.196674 # Seafloor depth: -734.500341 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 128.404856 meters # Minimum depth: 724.196674 meters looking forward 200.000000 meters along route # Maximum depth: 747.213866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.196674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.309698; longitude = 120.287876; duration = 513; # abortOnTimeout = True; initialDepth = 702.001389; finalDepth = 674.196674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.303667 # Actual altitude: 60.303667 # Commanded vehicle depth: 674.196674 # Seafloor depth: -724.910995 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 103 # Segment length 172.985028 meters # Minimum depth: 752.001389 meters looking forward 200.000000 meters along route # Maximum depth: 756.707539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.001389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.310304; longitude = 120.288937; duration = 691; # abortOnTimeout = True; initialDepth = 706.707539; finalDepth = 702.001389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7143209999999 # Actual altitude: 50.7143209999999 # Commanded vehicle depth: 702.001389 # Seafloor depth: -752.001389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 103.799639 meters # Minimum depth: 756.707539 meters looking forward 200.000000 meters along route # Maximum depth: 757.975160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.707539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.311696; longitude = 120.288179; duration = 415; initialDepth = 698.794227; finalDepth = 706.707539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.790251 # Actual altitude: 50.790251 # Commanded vehicle depth: 706.707539 # Seafloor depth: -757.497790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 103.799479 meters # Minimum depth: 748.794227 meters looking forward 200.000000 meters along route # Maximum depth: 757.975160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.794227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312532; longitude = 120.287725; duration = 415; initialDepth = 695.706598; finalDepth = 698.794227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.828788 # Actual altitude: 57.828788 # Commanded vehicle depth: 698.794227 # Seafloor depth: -756.623015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 103.799318 meters # Minimum depth: 745.706598 meters looking forward 200.000000 meters along route # Maximum depth: 754.719491 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.706598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313367; longitude = 120.287270; duration = 415; initialDepth = 695.552370; finalDepth = 695.706598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.828788 # Actual altitude: 57.828788 # Commanded vehicle depth: 695.706598 # Seafloor depth: -747.446311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 103.799159 meters # Minimum depth: 745.552370 meters looking forward 200.000000 meters along route # Maximum depth: 746.622784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.552370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314203; longitude = 120.286816; duration = 415; initialDepth = 695.552370; finalDepth = 695.552370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7397130000001 # Actual altitude: 51.7397130000001 # Commanded vehicle depth: 695.55237 # Seafloor depth: -745.625475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 108.381353 meters # Minimum depth: 745.552370 meters looking forward 200.000000 meters along route # Maximum depth: 753.516793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.552370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315038; longitude = 120.286361; duration = 433; initialDepth = 699.959881; finalDepth = 695.552370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301783 # Actual altitude: 51.301783 # Commanded vehicle depth: 695.55237 # Seafloor depth: -746.854153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 112.945694 meters # Minimum depth: 749.959881 meters looking forward 200.000000 meters along route # Maximum depth: 756.033986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.959881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315911; longitude = 120.285887; duration = 451; initialDepth = 699.301701; finalDepth = 699.959881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.825722 # Actual altitude: 53.825722 # Commanded vehicle depth: 699.959881 # Seafloor depth: -753.785603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 112.945503 meters # Minimum depth: 749.301701 meters looking forward 200.000000 meters along route # Maximum depth: 756.033986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.301701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316820; longitude = 120.285392; duration = 451; initialDepth = 684.995147; finalDepth = 699.301701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6477180000001 # Actual altitude: 56.6477180000001 # Commanded vehicle depth: 699.301701 # Seafloor depth: -755.949419 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 112.945315 meters # Minimum depth: 734.995147 meters looking forward 200.000000 meters along route # Maximum depth: 752.451278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.995147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317729; longitude = 120.284897; duration = 451; initialDepth = 675.145722; finalDepth = 684.995147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.130409 # Actual altitude: 61.130409 # Commanded vehicle depth: 684.995147 # Seafloor depth: -746.125556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 112.945125 meters # Minimum depth: 725.145722 meters looking forward 200.000000 meters along route # Maximum depth: 738.040723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.145722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318638; longitude = 120.284403; duration = 451; initialDepth = 671.961171; finalDepth = 675.145722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.130409 # Actual altitude: 61.130409 # Commanded vehicle depth: 675.145722 # Seafloor depth: -729.467251 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 131.829501 meters # Minimum depth: 721.961171 meters looking forward 200.000000 meters along route # Maximum depth: 725.730223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.961171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319547; longitude = 120.283908; duration = 527; initialDepth = 656.929629; finalDepth = 671.961171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.3215290000001 # Actual altitude: 54.3215290000001 # Commanded vehicle depth: 671.961171 # Seafloor depth: -722.999182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 126.789985 meters # Minimum depth: 706.929629 meters looking forward 200.000000 meters along route # Maximum depth: 724.996140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.929629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320608; longitude = 120.283331; duration = 507; # abortOnTimeout = True; initialDepth = 638.132264; finalDepth = 656.929629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.066511 # Actual altitude: 68.066511 # Commanded vehicle depth: 656.929629 # Seafloor depth: -724.996140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 108.677711 meters # Minimum depth: 688.132264 meters looking forward 200.000000 meters along route # Maximum depth: 707.986849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.132264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321186; longitude = 120.282270; duration = 434; initialDepth = 635.259005; finalDepth = 638.132264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.066511 # Actual altitude: 68.066511 # Commanded vehicle depth: 638.132264 # Seafloor depth: -695.689111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 34.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 108.677340 meters # Minimum depth: 685.259005 meters looking forward 200.000000 meters along route # Maximum depth: 689.674754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.259005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321682; longitude = 120.281361; duration = 434; initialDepth = 635.259005; finalDepth = 635.259005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5568470000001 # Actual altitude: 57.5568470000001 # Commanded vehicle depth: 635.259005 # Seafloor depth: -685.589910 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 120.693197 meters # Minimum depth: 685.259005 meters looking forward 200.000000 meters along route # Maximum depth: 696.574637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.259005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322178; longitude = 120.280452; duration = 482; initialDepth = 642.707606; finalDepth = 635.259005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.435394 # Actual altitude: 53.435394 # Commanded vehicle depth: 635.259005 # Seafloor depth: -688.694399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 132.887578 meters # Minimum depth: 692.707606 meters looking forward 200.000000 meters along route # Maximum depth: 698.572588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.707606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322729; longitude = 120.279443; duration = 531; initialDepth = 647.498489; finalDepth = 642.707606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.499869 # Actual altitude: 54.499869 # Commanded vehicle depth: 642.707606 # Seafloor depth: -697.207475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 183.216965 meters # Minimum depth: 697.498489 meters looking forward 200.000000 meters along route # Maximum depth: 704.056257 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.498489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323335; longitude = 120.278331; duration = 732; # abortOnTimeout = True; initialDepth = 652.360752; finalDepth = 647.498489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.499869 # Actual altitude: 54.499869 # Commanded vehicle depth: 647.498489 # Seafloor depth: -699.773804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 130.842043 meters # Minimum depth: 702.360752 meters looking forward 200.000000 meters along route # Maximum depth: 708.247623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.360752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324661; longitude = 120.277270; duration = 523; initialDepth = 654.914840; finalDepth = 652.360752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.2753150000001 # Actual altitude: 52.2753150000001 # Commanded vehicle depth: 652.360752 # Seafloor depth: -702.459734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 100 # Segment length 135.694089 meters # Minimum depth: 704.914840 meters looking forward 200.000000 meters along route # Maximum depth: 715.790809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.914840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325608; longitude = 120.276513; duration = 542; # abortOnTimeout = True; initialDepth = 665.790809; finalDepth = 654.914840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.192185 # Actual altitude: 59.192185 # Commanded vehicle depth: 654.91484 # Seafloor depth: -714.107025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 101.688482 meters # Minimum depth: 715.790809 meters looking forward 200.000000 meters along route # Maximum depth: 726.783062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.790809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325001; longitude = 120.277656; duration = 406; initialDepth = 670.430214; finalDepth = 665.790809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.192185 # Actual altitude: 59.192185 # Commanded vehicle depth: 665.790809 # Seafloor depth: -719.315978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 101.688805 meters # Minimum depth: 720.430214 meters looking forward 200.000000 meters along route # Maximum depth: 732.816985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.430214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324547; longitude = 120.278512; duration = 406; initialDepth = 680.374024; finalDepth = 670.430214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.303475 # Actual altitude: 59.303475 # Commanded vehicle depth: 670.430214 # Seafloor depth: -729.733689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 101.689127 meters # Minimum depth: 730.374024 meters looking forward 200.000000 meters along route # Maximum depth: 736.673948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.374024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324092; longitude = 120.279369; duration = 406; initialDepth = 685.313183; finalDepth = 680.374024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.303475 # Actual altitude: 59.303475 # Commanded vehicle depth: 680.374024 # Seafloor depth: -734.691506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 101.689451 meters # Minimum depth: 735.313183 meters looking forward 200.000000 meters along route # Maximum depth: 737.289243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.313183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323638; longitude = 120.280225; duration = 406; initialDepth = 680.780551; finalDepth = 685.313183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.317482 # Actual altitude: 54.317482 # Commanded vehicle depth: 685.313183 # Seafloor depth: -737.289243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 101.689773 meters # Minimum depth: 730.780551 meters looking forward 200.000000 meters along route # Maximum depth: 736.851003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.780551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323183; longitude = 120.281082; duration = 406; initialDepth = 680.749464; finalDepth = 680.780551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6585680000001 # Actual altitude: 53.6585680000001 # Commanded vehicle depth: 680.780551 # Seafloor depth: -734.439119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 101.690097 meters # Minimum depth: 730.749464 meters looking forward 200.000000 meters along route # Maximum depth: 732.695917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.749464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322729; longitude = 120.281938; duration = 406; initialDepth = 681.040706; finalDepth = 680.749464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6585680000001 # Actual altitude: 53.6585680000001 # Commanded vehicle depth: 680.749464 # Seafloor depth: -730.749464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 135.613831 meters # Minimum depth: 731.040706 meters looking forward 200.000000 meters along route # Maximum depth: 752.680149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.040706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322274; longitude = 120.282795; duration = 542; initialDepth = 690.466610; finalDepth = 681.040706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.718022 # Actual altitude: 52.718022 # Commanded vehicle depth: 681.040706 # Seafloor depth: -733.758728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 99 # Segment length 95.532133 meters # Minimum depth: 740.466610 meters looking forward 200.000000 meters along route # Maximum depth: 754.725844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.466610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321668; longitude = 120.283937; duration = 382; # abortOnTimeout = True; initialDepth = 701.588608; finalDepth = 690.466610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9611550000001 # Actual altitude: 61.9611550000001 # Commanded vehicle depth: 690.46661 # Seafloor depth: -752.427765 # 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 99 # Segment length 114.656705 meters # Minimum depth: 751.588608 meters looking forward 200.000000 meters along route # Maximum depth: 754.725844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.588608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320911; longitude = 120.284379; duration = 458; initialDepth = 701.588608; finalDepth = 701.588608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9611550000001 # Actual altitude: 61.9611550000001 # Commanded vehicle depth: 701.588608 # Seafloor depth: -752.065634 # 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 99 # Segment length 117.395398 meters # Minimum depth: 751.588608 meters looking forward 200.000000 meters along route # Maximum depth: 756.099288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.588608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320001; longitude = 120.284909; duration = 469; initialDepth = 705.136763; finalDepth = 701.588608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.42417 # Actual altitude: 51.42417 # Commanded vehicle depth: 701.588608 # Seafloor depth: -753.012778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 111.918653 meters # Minimum depth: 755.136763 meters looking forward 200.000000 meters along route # Maximum depth: 760.367782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.136763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319071; longitude = 120.285452; duration = 447; initialDepth = 708.243765; finalDepth = 705.136763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.42417 # Actual altitude: 51.42417 # Commanded vehicle depth: 705.136763 # Seafloor depth: -756.221456 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 114.657346 meters # Minimum depth: 758.243765 meters looking forward 200.000000 meters along route # Maximum depth: 764.069097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.243765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318183; longitude = 120.285970; duration = 458; initialDepth = 712.855506; finalDepth = 708.243765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.455305 # Actual altitude: 52.455305 # Commanded vehicle depth: 708.243765 # Seafloor depth: -760.699070 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 114.657560 meters # Minimum depth: 762.855506 meters looking forward 200.000000 meters along route # Maximum depth: 765.029874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.855506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317274; longitude = 120.286500; duration = 458; initialDepth = 709.871114; finalDepth = 712.855506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.455305 # Actual altitude: 52.455305 # Commanded vehicle depth: 712.855506 # Seafloor depth: -764.640886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 114.657773 meters # Minimum depth: 759.871114 meters looking forward 200.000000 meters along route # Maximum depth: 765.029874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.871114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316365; longitude = 120.287031; duration = 458; initialDepth = 707.983623; finalDepth = 709.871114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.080461 # Actual altitude: 53.080461 # Commanded vehicle depth: 709.871114 # Seafloor depth: -762.951575 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 114.657987 meters # Minimum depth: 757.983623 meters looking forward 200.000000 meters along route # Maximum depth: 760.138564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.983623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315456; longitude = 120.287561; duration = 458; initialDepth = 708.529907; finalDepth = 707.983623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.080461 # Actual altitude: 53.080461 # Commanded vehicle depth: 707.983623 # Seafloor depth: -757.983623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 117.351668 meters # Minimum depth: 758.529907 meters looking forward 200.000000 meters along route # Maximum depth: 764.000220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.529907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314547; longitude = 120.288091; duration = 469; initialDepth = 712.724453; finalDepth = 708.529907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.434158 # Actual altitude: 53.434158 # Commanded vehicle depth: 708.529907 # Seafloor depth: -761.964065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 111.964946 meters # Minimum depth: 762.724453 meters looking forward 200.000000 meters along route # Maximum depth: 766.672467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.724453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313616; longitude = 120.288634; duration = 447; initialDepth = 711.710626; finalDepth = 712.724453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.434158 # Actual altitude: 53.434158 # Commanded vehicle depth: 712.724453 # Seafloor depth: -764.192335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 114.658628 meters # Minimum depth: 761.710626 meters looking forward 200.000000 meters along route # Maximum depth: 766.672467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.710626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312729; longitude = 120.289152; duration = 458; initialDepth = 709.082632; finalDepth = 711.710626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.668053 # Actual altitude: 54.668053 # Commanded vehicle depth: 711.710626 # Seafloor depth: -766.378679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 133.773561 meters # Minimum depth: 759.082632 meters looking forward 200.000000 meters along route # Maximum depth: 762.898583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.082632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.311820; longitude = 120.289682; duration = 535; initialDepth = 708.787143; finalDepth = 709.082632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.668053 # Actual altitude: 54.668053 # Commanded vehicle depth: 709.082632 # Seafloor depth: -760.566572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 98 # Segment length 129.439999 meters # Minimum depth: 758.787143 meters looking forward 200.000000 meters along route # Maximum depth: 762.483137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.787143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.310759; longitude = 120.290301; duration = 517; # abortOnTimeout = True; initialDepth = 711.570190; finalDepth = 708.787143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.48394 # Actual altitude: 51.48394 # Commanded vehicle depth: 708.787143 # Seafloor depth: -759.358292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 153.887716 meters # Minimum depth: 761.570190 meters looking forward 200.000000 meters along route # Maximum depth: 763.672165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.570190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.311062; longitude = 120.291513; duration = 615; # abortOnTimeout = True; initialDepth = 711.570190; finalDepth = 711.570190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1019749999999 # Actual altitude: 52.1019749999999 # Commanded vehicle depth: 711.57019 # Seafloor depth: -763.672165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 115.408977 meters # Minimum depth: 761.570190 meters looking forward 200.000000 meters along route # Maximum depth: 762.103405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.570190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312274; longitude = 120.290786; duration = 461; initialDepth = 712.007263; finalDepth = 711.570190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1019749999999 # Actual altitude: 52.1019749999999 # Commanded vehicle depth: 711.57019 # Seafloor depth: -761.749514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 115.408753 meters # Minimum depth: 762.007263 meters looking forward 200.000000 meters along route # Maximum depth: 763.554425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.007263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313183; longitude = 120.290240; duration = 461; initialDepth = 711.689863; finalDepth = 712.007263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9484520000001 # Actual altitude: 50.9484520000001 # Commanded vehicle depth: 712.007263 # Seafloor depth: -762.955715 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 128.291251 meters # Minimum depth: 761.689863 meters looking forward 200.000000 meters along route # Maximum depth: 763.554425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.689863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314092; longitude = 120.289695; duration = 513; initialDepth = 711.689863; finalDepth = 711.689863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2206130000001 # Actual altitude: 51.2206130000001 # Commanded vehicle depth: 711.689863 # Seafloor depth: -762.910476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 102.525582 meters # Minimum depth: 761.689863 meters looking forward 200.000000 meters along route # Maximum depth: 762.948744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.689863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315103; longitude = 120.289089; duration = 410; initialDepth = 711.929285; finalDepth = 711.689863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2206130000001 # Actual altitude: 51.2206130000001 # Commanded vehicle depth: 711.689863 # Seafloor depth: -761.768437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 115.408080 meters # Minimum depth: 761.929285 meters looking forward 200.000000 meters along route # Maximum depth: 764.671278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.929285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315911; longitude = 120.288604; duration = 461; initialDepth = 714.320468; finalDepth = 711.929285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.103892 # Actual altitude: 51.103892 # Commanded vehicle depth: 711.929285 # Seafloor depth: -763.033177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 115.407856 meters # Minimum depth: 764.320468 meters looking forward 200.000000 meters along route # Maximum depth: 765.570558 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.320468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316820; longitude = 120.288059; duration = 461; initialDepth = 715.517499; finalDepth = 714.320468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.103892 # Actual altitude: 51.103892 # Commanded vehicle depth: 714.320468 # Seafloor depth: -765.169234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 115.407632 meters # Minimum depth: 765.517499 meters looking forward 200.000000 meters along route # Maximum depth: 766.640223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.517499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317729; longitude = 120.287513; duration = 461; initialDepth = 713.556498; finalDepth = 715.517499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.848766 # Actual altitude: 50.848766 # Commanded vehicle depth: 715.517499 # Seafloor depth: -765.906508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 128.323859 meters # Minimum depth: 763.556498 meters looking forward 200.000000 meters along route # Maximum depth: 766.640223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.556498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318638; longitude = 120.286968; duration = 513; initialDepth = 707.609189; finalDepth = 713.556498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.950575 # Actual altitude: 52.950575 # Commanded vehicle depth: 713.556498 # Seafloor depth: -766.507073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 102.490732 meters # Minimum depth: 757.609189 meters looking forward 200.000000 meters along route # Maximum depth: 766.326261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.609189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319649; longitude = 120.286361; duration = 409; initialDepth = 707.331912; finalDepth = 707.609189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0631969999999 # Actual altitude: 55.0631969999999 # Commanded vehicle depth: 707.609189 # Seafloor depth: -762.672386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 115.406960 meters # Minimum depth: 757.331912 meters looking forward 200.000000 meters along route # Maximum depth: 759.416314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.331912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320456; longitude = 120.285877; duration = 461; initialDepth = 707.456360; finalDepth = 707.331912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0631969999999 # Actual altitude: 55.0631969999999 # Commanded vehicle depth: 707.331912 # Seafloor depth: -757.331912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 134.680068 meters # Minimum depth: 757.456360 meters looking forward 200.000000 meters along route # Maximum depth: 761.258452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.456360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321365; longitude = 120.285332; duration = 538; initialDepth = 710.213626; finalDepth = 707.456360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.755693 # Actual altitude: 51.755693 # Commanded vehicle depth: 707.45636 # Seafloor depth: -759.212053 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 96 # Segment length 124.217856 meters # Minimum depth: 760.213626 meters looking forward 200.000000 meters along route # Maximum depth: 761.677155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.213626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322426; longitude = 120.284695; duration = 496; # abortOnTimeout = True; initialDepth = 699.701528; finalDepth = 710.213626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.755693 # Actual altitude: 51.755693 # Commanded vehicle depth: 710.213626 # Seafloor depth: -761.677155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 106.436397 meters # Minimum depth: 749.701528 meters looking forward 200.000000 meters along route # Maximum depth: 760.215853 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.701528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322956; longitude = 120.283634; duration = 425; initialDepth = 698.275474; finalDepth = 699.701528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9910639999999 # Actual altitude: 55.9910639999999 # Commanded vehicle depth: 699.701528 # Seafloor depth: -755.692592 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.436047 meters # Minimum depth: 748.275474 meters looking forward 200.000000 meters along route # Maximum depth: 749.710764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.275474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323411; longitude = 120.282725; duration = 425; initialDepth = 699.656224; finalDepth = 698.275474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9910639999999 # Actual altitude: 55.9910639999999 # Commanded vehicle depth: 698.275474 # Seafloor depth: -748.275474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.435696 meters # Minimum depth: 749.656224 meters looking forward 200.000000 meters along route # Maximum depth: 750.175158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.656224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323866; longitude = 120.281816; duration = 425; initialDepth = 696.647722; finalDepth = 699.656224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.332533 # Actual altitude: 50.332533 # Commanded vehicle depth: 699.656224 # Seafloor depth: -749.988757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.435346 meters # Minimum depth: 746.647722 meters looking forward 200.000000 meters along route # Maximum depth: 750.175158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.647722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324320; longitude = 120.280907; duration = 425; initialDepth = 692.630408; finalDepth = 696.647722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.82076 # Actual altitude: 51.82076 # Commanded vehicle depth: 696.647722 # Seafloor depth: -748.468482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.434996 meters # Minimum depth: 742.630408 meters looking forward 200.000000 meters along route # Maximum depth: 746.652017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.630408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324775; longitude = 120.279998; duration = 425; initialDepth = 689.106795; finalDepth = 692.630408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.160138 # Actual altitude: 52.160138 # Commanded vehicle depth: 692.630408 # Seafloor depth: -744.790546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.434645 meters # Minimum depth: 739.106795 meters looking forward 200.000000 meters along route # Maximum depth: 742.634321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.106795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325229; longitude = 120.279089; duration = 425; initialDepth = 684.932312; finalDepth = 689.106795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.160138 # Actual altitude: 52.160138 # Commanded vehicle depth: 689.106795 # Seafloor depth: -740.847208 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.434295 meters # Minimum depth: 734.932312 meters looking forward 200.000000 meters along route # Maximum depth: 739.110650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.932312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325684; longitude = 120.278179; duration = 425; initialDepth = 681.108879; finalDepth = 684.932312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.054585 # Actual altitude: 52.054585 # Commanded vehicle depth: 684.932312 # Seafloor depth: -736.986897 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 106.433944 meters # Minimum depth: 731.108879 meters looking forward 200.000000 meters along route # Maximum depth: 734.938261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.108879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326138; longitude = 120.277270; duration = 425; initialDepth = 676.310661; finalDepth = 681.108879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.054585 # Actual altitude: 52.054585 # Commanded vehicle depth: 681.108879 # Seafloor depth: -731.644174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 124.139093 meters # Minimum depth: 726.310661 meters looking forward 200.000000 meters along route # Maximum depth: 733.681814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.310661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326593; longitude = 120.276361; duration = 496; initialDepth = 671.191879; finalDepth = 676.310661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.371153 # Actual altitude: 57.371153 # Commanded vehicle depth: 676.310661 # Seafloor depth: -733.681814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 137.623006 meters # Minimum depth: 721.191879 meters looking forward 200.000000 meters along route # Maximum depth: 738.534233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.191879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327123; longitude = 120.275301; duration = 550; # abortOnTimeout = True; initialDepth = 688.533616; finalDepth = 671.191879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.371153 # Actual altitude: 57.371153 # Commanded vehicle depth: 671.191879 # Seafloor depth: -721.191879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 124.149102 meters # Minimum depth: 738.533616 meters looking forward 200.000000 meters along route # Maximum depth: 742.280238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.533616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328032; longitude = 120.276210; duration = 496; # abortOnTimeout = True; initialDepth = 692.279018; finalDepth = 688.533616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.799941 # Actual altitude: 51.799941 # Commanded vehicle depth: 688.533616 # Seafloor depth: -740.333557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 106.433494 meters # Minimum depth: 742.279018 meters looking forward 200.000000 meters along route # Maximum depth: 743.356275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.279018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327502; longitude = 120.277270; duration = 425; initialDepth = 693.354067; finalDepth = 692.279018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.799941 # Actual altitude: 51.799941 # Commanded vehicle depth: 692.279018 # Seafloor depth: -742.489328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.433843 meters # Minimum depth: 743.354067 meters looking forward 200.000000 meters along route # Maximum depth: 746.011697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.354067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327047; longitude = 120.278179; duration = 425; initialDepth = 696.009868; finalDepth = 693.354067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.365132 # Actual altitude: 51.365132 # Commanded vehicle depth: 693.354067 # Seafloor depth: -744.719199 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.434195 meters # Minimum depth: 746.009868 meters looking forward 200.000000 meters along route # Maximum depth: 749.686385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.009868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326593; longitude = 120.279089; duration = 425; initialDepth = 699.683170; finalDepth = 696.009868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.495624 # Actual altitude: 51.495624 # Commanded vehicle depth: 696.009868 # Seafloor depth: -747.505492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.434544 meters # Minimum depth: 749.683170 meters looking forward 200.000000 meters along route # Maximum depth: 752.901540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.683170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326138; longitude = 120.279998; duration = 425; initialDepth = 702.899464; finalDepth = 699.683170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940146 # Actual altitude: 51.940146 # Commanded vehicle depth: 699.68317 # Seafloor depth: -751.623316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.434895 meters # Minimum depth: 752.899464 meters looking forward 200.000000 meters along route # Maximum depth: 755.839412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.899464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325684; longitude = 120.280907; duration = 425; initialDepth = 705.836336; finalDepth = 702.899464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940146 # Actual altitude: 51.940146 # Commanded vehicle depth: 702.899464 # Seafloor depth: -754.163454 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.435246 meters # Minimum depth: 755.836336 meters looking forward 200.000000 meters along route # Maximum depth: 759.462548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.836336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325229; longitude = 120.281816; duration = 425; initialDepth = 709.461710; finalDepth = 705.836336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0324850000001 # Actual altitude: 52.0324850000001 # Commanded vehicle depth: 705.836336 # Seafloor depth: -757.868821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.435596 meters # Minimum depth: 759.461710 meters looking forward 200.000000 meters along route # Maximum depth: 760.639919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.461710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324775; longitude = 120.282725; duration = 425; initialDepth = 710.638533; finalDepth = 709.461710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0324850000001 # Actual altitude: 52.0324850000001 # Commanded vehicle depth: 709.46171 # Seafloor depth: -760.102859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 106.435946 meters # Minimum depth: 760.638533 meters looking forward 200.000000 meters along route # Maximum depth: 763.299302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.638533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324320; longitude = 120.283634; duration = 425; initialDepth = 713.297298; finalDepth = 710.638533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.123713 # Actual altitude: 51.123713 # Commanded vehicle depth: 710.638533 # Seafloor depth: -761.762246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 124.206794 meters # Minimum depth: 763.297298 meters looking forward 200.000000 meters along route # Maximum depth: 765.398686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.297298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323865; longitude = 120.284543; duration = 496; initialDepth = 713.708068; finalDepth = 713.297298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.303346 # Actual altitude: 51.303346 # Commanded vehicle depth: 713.297298 # Seafloor depth: -764.600644 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 93 # Segment length 77.438085 meters # Minimum depth: 763.708068 meters looking forward 200.000000 meters along route # Maximum depth: 765.398686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.708068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323335; longitude = 120.285604; duration = 309; # abortOnTimeout = True; initialDepth = 711.983724; finalDepth = 713.708068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.303346 # Actual altitude: 51.303346 # Commanded vehicle depth: 713.708068 # Seafloor depth: -764.744461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 93 # Segment length 116.115857 meters # Minimum depth: 761.983724 meters looking forward 200.000000 meters along route # Maximum depth: 764.744461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.983724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322729; longitude = 120.285977; duration = 464; initialDepth = 710.459042; finalDepth = 711.983724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6168709999999 # Actual altitude: 51.6168709999999 # Commanded vehicle depth: 711.983724 # Seafloor depth: -763.600595 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.116090 meters # Minimum depth: 760.459042 meters looking forward 200.000000 meters along route # Maximum depth: 762.531974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.459042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321820; longitude = 120.286536; duration = 464; initialDepth = 709.480005; finalDepth = 710.459042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6168709999999 # Actual altitude: 51.6168709999999 # Commanded vehicle depth: 710.459042 # Seafloor depth: -761.525284 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 130.585391 meters # Minimum depth: 759.480005 meters looking forward 200.000000 meters along route # Maximum depth: 760.460021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.480005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320911; longitude = 120.287096; duration = 522; initialDepth = 709.082336; finalDepth = 709.480005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0662420000001 # Actual altitude: 51.0662420000001 # Commanded vehicle depth: 709.480005 # Seafloor depth: -759.508078 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 101.647492 meters # Minimum depth: 759.082336 meters looking forward 200.000000 meters along route # Maximum depth: 759.594310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.082336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319888; longitude = 120.287725; duration = 406; initialDepth = 709.082336; finalDepth = 709.082336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.293546 # Actual altitude: 50.293546 # Commanded vehicle depth: 709.082336 # Seafloor depth: -759.375882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.116792 meters # Minimum depth: 759.082336 meters looking forward 200.000000 meters along route # Maximum depth: 760.577611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.082336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319092; longitude = 120.288215; duration = 464; initialDepth = 709.934579; finalDepth = 709.082336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.293546 # Actual altitude: 50.293546 # Commanded vehicle depth: 709.082336 # Seafloor depth: -759.151539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.117027 meters # Minimum depth: 759.934579 meters looking forward 200.000000 meters along route # Maximum depth: 762.901459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.934579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318183; longitude = 120.288774; duration = 464; initialDepth = 712.701654; finalDepth = 709.934579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14611 # Actual altitude: 51.14611 # Commanded vehicle depth: 709.934579 # Seafloor depth: -761.080689 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.117260 meters # Minimum depth: 762.701654 meters looking forward 200.000000 meters along route # Maximum depth: 765.664621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.701654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317274; longitude = 120.289333; duration = 464; initialDepth = 713.243087; finalDepth = 712.701654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5522020000001 # Actual altitude: 51.5522020000001 # Commanded vehicle depth: 712.701654 # Seafloor depth: -764.253856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.119907 meters # Minimum depth: 763.243087 meters looking forward 200.000000 meters along route # Maximum depth: 765.664621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.243087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316365; longitude = 120.289893; duration = 464; initialDepth = 713.243087; finalDepth = 713.243087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.984777 # Actual altitude: 51.984777 # Commanded vehicle depth: 713.243087 # Seafloor depth: -765.227864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.115316 meters # Minimum depth: 763.243087 meters looking forward 200.000000 meters along route # Maximum depth: 765.617733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.243087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315456; longitude = 120.290452; duration = 464; initialDepth = 714.666531; finalDepth = 713.243087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.984777 # Actual altitude: 51.984777 # Commanded vehicle depth: 713.243087 # Seafloor depth: -763.243125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 116.117963 meters # Minimum depth: 764.666531 meters looking forward 200.000000 meters along route # Maximum depth: 766.504262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.666531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314547; longitude = 120.291012; duration = 464; initialDepth = 716.504262; finalDepth = 714.666531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.367372 # Actual altitude: 51.367372 # Commanded vehicle depth: 714.666531 # Seafloor depth: -766.033903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 145.182131 meters # Minimum depth: 766.504262 meters looking forward 200.000000 meters along route # Maximum depth: 767.293552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.504262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313638; longitude = 120.291571; duration = 580; initialDepth = 717.293552; finalDepth = 716.504262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.367372 # Actual altitude: 51.367372 # Commanded vehicle depth: 716.504262 # Seafloor depth: -766.985373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 125.711360 meters # Minimum depth: 767.293552 meters looking forward 200.000000 meters along route # Maximum depth: 769.382621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.293552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312501; longitude = 120.292270; duration = 502; initialDepth = 719.339592; finalDepth = 717.293552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.4811109999999 # Actual altitude: 50.4811109999999 # Commanded vehicle depth: 717.293552 # Seafloor depth: -767.729860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 92 # Segment length 128.404205 meters # Minimum depth: 769.339592 meters looking forward 200.000000 meters along route # Maximum depth: 771.334644 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.339592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.311517; longitude = 120.292876; duration = 513; # abortOnTimeout = True; initialDepth = 721.334644; finalDepth = 719.339592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.4363080000001 # Actual altitude: 50.4363080000001 # Commanded vehicle depth: 719.339592 # Seafloor depth: -769.541031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 136.214324 meters # Minimum depth: 771.334644 meters looking forward 200.000000 meters along route # Maximum depth: 772.401140 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.334644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312123; longitude = 120.293937; duration = 544; # abortOnTimeout = True; initialDepth = 721.213466; finalDepth = 721.334644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2943839999999 # Actual altitude: 50.2943839999999 # Commanded vehicle depth: 721.334644 # Seafloor depth: -771.629028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 116.790794 meters # Minimum depth: 771.213466 meters looking forward 200.000000 meters along route # Maximum depth: 772.674436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 721.213466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313183; longitude = 120.293269; duration = 467; initialDepth = 719.612561; finalDepth = 721.213466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.46097 # Actual altitude: 51.46097 # Commanded vehicle depth: 721.213466 # Seafloor depth: -772.674436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 116.790551 meters # Minimum depth: 769.612561 meters looking forward 200.000000 meters along route # Maximum depth: 772.121842 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.612561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314092; longitude = 120.292697; duration = 467; initialDepth = 716.823410; finalDepth = 719.612561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5171329999999 # Actual altitude: 51.5171329999999 # Commanded vehicle depth: 719.612561 # Seafloor depth: -771.129694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 116.790308 meters # Minimum depth: 766.823410 meters looking forward 200.000000 meters along route # Maximum depth: 770.174192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.823410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315001; longitude = 120.292125; duration = 467; initialDepth = 710.823047; finalDepth = 716.823410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4034 # Actual altitude: 52.4034 # Commanded vehicle depth: 716.82341 # Seafloor depth: -769.226810 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 131.690030 meters # Minimum depth: 760.823047 meters looking forward 200.000000 meters along route # Maximum depth: 767.106450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.823047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315911; longitude = 120.291552; duration = 526; initialDepth = 709.485027; finalDepth = 710.823047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3758310000001 # Actual altitude: 53.3758310000001 # Commanded vehicle depth: 710.823047 # Seafloor depth: -764.198878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 101.889855 meters # Minimum depth: 759.485027 meters looking forward 200.000000 meters along route # Maximum depth: 762.616482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.485027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316936; longitude = 120.290907; duration = 407; initialDepth = 708.412207; finalDepth = 709.485027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3758310000001 # Actual altitude: 53.3758310000001 # Commanded vehicle depth: 709.485027 # Seafloor depth: -760.675102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 116.789578 meters # Minimum depth: 758.412207 meters looking forward 200.000000 meters along route # Maximum depth: 760.445264 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.412207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317729; longitude = 120.290407; duration = 467; initialDepth = 708.412207; finalDepth = 708.412207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1900750000001 # Actual altitude: 51.1900750000001 # Commanded vehicle depth: 708.412207 # Seafloor depth: -759.292845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 116.789334 meters # Minimum depth: 758.412207 meters looking forward 200.000000 meters along route # Maximum depth: 758.969784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.412207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318638; longitude = 120.289835; duration = 467; initialDepth = 708.964179; finalDepth = 708.412207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8806380000001 # Actual altitude: 50.8806380000001 # Commanded vehicle depth: 708.412207 # Seafloor depth: -758.565832 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 128.242850 meters # Minimum depth: 758.964179 meters looking forward 200.000000 meters along route # Maximum depth: 761.044943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.964179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319547; longitude = 120.289263; duration = 512; initialDepth = 709.978227; finalDepth = 708.964179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6814330000001 # Actual altitude: 50.6814330000001 # Commanded vehicle depth: 708.964179 # Seafloor depth: -759.645612 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 105.335088 meters # Minimum depth: 759.978227 meters looking forward 200.000000 meters along route # Maximum depth: 762.559723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.978227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320545; longitude = 120.288634; duration = 421; initialDepth = 711.802318; finalDepth = 709.978227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.257099 # Actual altitude: 51.257099 # Commanded vehicle depth: 709.978227 # Seafloor depth: -761.235326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 116.788604 meters # Minimum depth: 761.802318 meters looking forward 200.000000 meters along route # Maximum depth: 766.398323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.802318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321365; longitude = 120.288118; duration = 467; initialDepth = 716.398323; finalDepth = 711.802318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.257099 # Actual altitude: 51.257099 # Commanded vehicle depth: 711.802318 # Seafloor depth: -762.811477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 148.842839 meters # Minimum depth: 766.398323 meters looking forward 200.000000 meters along route # Maximum depth: 767.829006 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.398323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322274; longitude = 120.287545; duration = 595; initialDepth = 716.855432; finalDepth = 716.398323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.009159 # Actual altitude: 51.009159 # Commanded vehicle depth: 716.398323 # Seafloor depth: -767.222430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 123.613042 meters # Minimum depth: 766.855432 meters looking forward 200.000000 meters along route # Maximum depth: 767.969961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.855432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323433; longitude = 120.286816; duration = 494; initialDepth = 716.715927; finalDepth = 716.855432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.1145290000001 # Actual altitude: 51.1145290000001 # Commanded vehicle depth: 716.855432 # Seafloor depth: -767.969961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 90 # Segment length 143.478699 meters # Minimum depth: 766.715927 meters looking forward 200.000000 meters along route # Maximum depth: 767.371154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.715927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324395; longitude = 120.286210; duration = 573; # abortOnTimeout = True; initialDepth = 715.706932; finalDepth = 716.715927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1145290000001 # Actual altitude: 51.1145290000001 # Commanded vehicle depth: 716.715927 # Seafloor depth: -766.715927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 90 # Segment length 107.590365 meters # Minimum depth: 765.706932 meters looking forward 200.000000 meters along route # Maximum depth: 767.371154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.706932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325030; longitude = 120.284998; duration = 430; initialDepth = 715.637878; finalDepth = 715.706932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.22781 # Actual altitude: 51.22781 # Commanded vehicle depth: 715.706932 # Seafloor depth: -766.934742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.590003 meters # Minimum depth: 765.637878 meters looking forward 200.000000 meters along route # Maximum depth: 766.054331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.637878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325506; longitude = 120.284089; duration = 430; initialDepth = 714.355933; finalDepth = 715.637878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.22781 # Actual altitude: 51.22781 # Commanded vehicle depth: 715.637878 # Seafloor depth: -765.637878 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.589643 meters # Minimum depth: 764.355933 meters looking forward 200.000000 meters along route # Maximum depth: 765.672593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.355933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325982; longitude = 120.283179; duration = 430; initialDepth = 711.416313; finalDepth = 714.355933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2934879999999 # Actual altitude: 51.2934879999999 # Commanded vehicle depth: 714.355933 # Seafloor depth: -765.649421 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.589282 meters # Minimum depth: 761.416313 meters looking forward 200.000000 meters along route # Maximum depth: 765.050592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.416313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326458; longitude = 120.282270; duration = 430; initialDepth = 708.168030; finalDepth = 711.416313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.487058 # Actual altitude: 52.487058 # Commanded vehicle depth: 711.416313 # Seafloor depth: -763.903371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.588921 meters # Minimum depth: 758.168030 meters looking forward 200.000000 meters along route # Maximum depth: 762.332114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.168030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326935; longitude = 120.281361; duration = 430; initialDepth = 705.553924; finalDepth = 708.168030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.487058 # Actual altitude: 52.487058 # Commanded vehicle depth: 708.16803 # Seafloor depth: -760.599221 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.588560 meters # Minimum depth: 755.553924 meters looking forward 200.000000 meters along route # Maximum depth: 758.742732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.553924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327411; longitude = 120.280452; duration = 430; initialDepth = 703.921605; finalDepth = 705.553924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4311909999999 # Actual altitude: 52.4311909999999 # Commanded vehicle depth: 705.553924 # Seafloor depth: -757.253013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.588199 meters # Minimum depth: 753.921605 meters looking forward 200.000000 meters along route # Maximum depth: 755.985719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.921605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327887; longitude = 120.279543; duration = 430; initialDepth = 700.551973; finalDepth = 703.921605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.699089 # Actual altitude: 51.699089 # Commanded vehicle depth: 703.921605 # Seafloor depth: -754.887930 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 107.587838 meters # Minimum depth: 750.551973 meters looking forward 200.000000 meters along route # Maximum depth: 754.120394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.551973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328363; longitude = 120.278634; duration = 430; initialDepth = 696.773145; finalDepth = 700.551973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3968090000001 # Actual altitude: 52.3968090000001 # Commanded vehicle depth: 700.551973 # Seafloor depth: -752.948782 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 125.560074 meters # Minimum depth: 746.773145 meters looking forward 200.000000 meters along route # Maximum depth: 750.861991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.773145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328839; longitude = 120.277725; duration = 502; initialDepth = 695.788498; finalDepth = 696.773145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.3968090000001 # Actual altitude: 52.3968090000001 # Commanded vehicle depth: 696.773145 # Seafloor depth: -749.135535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 155.528171 meters # Minimum depth: 745.788498 meters looking forward 200.000000 meters along route # Maximum depth: 751.372246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.788498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329395; longitude = 120.276664; duration = 622; # abortOnTimeout = True; initialDepth = 700.987765; finalDepth = 695.788498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.36239 # Actual altitude: 52.36239 # Commanded vehicle depth: 695.788498 # Seafloor depth: -745.788498 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 146.692202 meters # Minimum depth: 750.987765 meters looking forward 200.000000 meters along route # Maximum depth: 755.009303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.987765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330608; longitude = 120.277422; duration = 586; # abortOnTimeout = True; initialDepth = 704.094180; finalDepth = 700.987765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6246620000001 # Actual altitude: 51.6246620000001 # Commanded vehicle depth: 700.987765 # Seafloor depth: -752.612427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 110.026433 meters # Minimum depth: 754.094180 meters looking forward 200.000000 meters along route # Maximum depth: 757.568766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.094180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329915; longitude = 120.278634; duration = 440; initialDepth = 706.984774; finalDepth = 704.094180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6246620000001 # Actual altitude: 51.6246620000001 # Commanded vehicle depth: 704.09418 # Seafloor depth: -755.466730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 110.026814 meters # Minimum depth: 756.984774 meters looking forward 200.000000 meters along route # Maximum depth: 759.339157 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.984774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329396; longitude = 120.279543; duration = 440; initialDepth = 709.209042; finalDepth = 706.984774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.396878 # Actual altitude: 51.396878 # Commanded vehicle depth: 706.984774 # Seafloor depth: -758.381652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 110.027195 meters # Minimum depth: 759.209042 meters looking forward 200.000000 meters along route # Maximum depth: 761.751216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.209042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328876; longitude = 120.280452; duration = 440; initialDepth = 711.619577; finalDepth = 709.209042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.396878 # Actual altitude: 51.396878 # Commanded vehicle depth: 709.209042 # Seafloor depth: -759.963484 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 110.027577 meters # Minimum depth: 761.619577 meters looking forward 200.000000 meters along route # Maximum depth: 765.199065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.619577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328357; longitude = 120.281361; duration = 440; initialDepth = 714.641512; finalDepth = 711.619577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9477939999999 # Actual altitude: 51.9477939999999 # Commanded vehicle depth: 711.619577 # Seafloor depth: -763.567371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 119.218800 meters # Minimum depth: 764.641512 meters looking forward 200.000000 meters along route # Maximum depth: 770.071289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.641512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327837; longitude = 120.282270; duration = 476; initialDepth = 716.741806; finalDepth = 714.641512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5152999999999 # Actual altitude: 52.5152999999999 # Commanded vehicle depth: 714.641512 # Seafloor depth: -767.156812 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 100.837496 meters # Minimum depth: 766.741806 meters looking forward 200.000000 meters along route # Maximum depth: 770.071289 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.741806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327274; longitude = 120.283255; duration = 403; initialDepth = 715.884984; finalDepth = 716.741806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1714030000001 # Actual altitude: 53.1714030000001 # Commanded vehicle depth: 716.741806 # Seafloor depth: -769.913209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 110.028719 meters # Minimum depth: 765.884984 meters looking forward 200.000000 meters along route # Maximum depth: 768.982462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.884984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326798; longitude = 120.284089; duration = 440; initialDepth = 715.884984; finalDepth = 715.884984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1714030000001 # Actual altitude: 53.1714030000001 # Commanded vehicle depth: 715.884984 # Seafloor depth: -766.596936 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 110.029101 meters # Minimum depth: 765.884984 meters looking forward 200.000000 meters along route # Maximum depth: 768.686905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 715.884984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326278; longitude = 120.284998; duration = 440; initialDepth = 712.845887; finalDepth = 715.884984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2481879999999 # Actual altitude: 51.2481879999999 # Commanded vehicle depth: 715.884984 # Seafloor depth: -767.133172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 128.323043 meters # Minimum depth: 762.845887 meters looking forward 200.000000 meters along route # Maximum depth: 768.686905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.845887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325759; longitude = 120.285907; duration = 513; initialDepth = 711.077057; finalDepth = 712.845887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.1249330000001 # Actual altitude: 55.1249330000001 # Commanded vehicle depth: 712.845887 # Seafloor depth: -767.970820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 78.927513 meters # Minimum depth: 761.077057 meters looking forward 200.000000 meters along route # Maximum depth: 766.033553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.077057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325153; longitude = 120.286967; duration = 315; # abortOnTimeout = True; initialDepth = 711.077057; finalDepth = 711.077057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1249330000001 # Actual altitude: 55.1249330000001 # Commanded vehicle depth: 711.077057 # Seafloor depth: -761.077057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 87 # Segment length 118.384367 meters # Minimum depth: 761.077057 meters looking forward 200.000000 meters along route # Maximum depth: 766.472050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.077057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324547; longitude = 120.287369; duration = 473; initialDepth = 716.457028; finalDepth = 711.077057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.352919 # Actual altitude: 55.352919 # Commanded vehicle depth: 711.077057 # Seafloor depth: -766.429976 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 130.271086 meters # Minimum depth: 766.457028 meters looking forward 200.000000 meters along route # Maximum depth: 769.898363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 716.457028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323638; longitude = 120.287971; duration = 521; initialDepth = 717.128496; finalDepth = 716.457028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.352919 # Actual altitude: 55.352919 # Commanded vehicle depth: 716.457028 # Seafloor depth: -766.611620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 106.498444 meters # Minimum depth: 767.128496 meters looking forward 200.000000 meters along route # Maximum depth: 769.984656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 717.128496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322637; longitude = 120.288634; duration = 425; initialDepth = 712.388361; finalDepth = 717.128496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8561599999999 # Actual altitude: 52.8561599999999 # Commanded vehicle depth: 717.128496 # Seafloor depth: -769.984656 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 118.385163 meters # Minimum depth: 762.388361 meters looking forward 200.000000 meters along route # Maximum depth: 769.668557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.388361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321820; longitude = 120.289176; duration = 473; initialDepth = 710.947974; finalDepth = 712.388361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.42628 # Actual altitude: 53.42628 # Commanded vehicle depth: 712.388361 # Seafloor depth: -765.814641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 132.402732 meters # Minimum depth: 760.947974 meters looking forward 200.000000 meters along route # Maximum depth: 762.593667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.947974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320911; longitude = 120.289778; duration = 529; initialDepth = 710.947974; finalDepth = 710.947974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.42628 # Actual altitude: 53.42628 # Commanded vehicle depth: 710.947974 # Seafloor depth: -761.595250 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 104.368390 meters # Minimum depth: 760.947974 meters looking forward 200.000000 meters along route # Maximum depth: 762.519836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.947974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319894; longitude = 120.290452; duration = 417; initialDepth = 711.499601; finalDepth = 710.947974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.907076 # Actual altitude: 50.907076 # Commanded vehicle depth: 710.947974 # Seafloor depth: -761.855050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 118.385959 meters # Minimum depth: 761.499601 meters looking forward 200.000000 meters along route # Maximum depth: 762.519836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.499601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319092; longitude = 120.290983; duration = 473; initialDepth = 711.499601; finalDepth = 711.499601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.907076 # Actual altitude: 50.907076 # Commanded vehicle depth: 711.499601 # Seafloor depth: -762.108015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 134.534407 meters # Minimum depth: 761.499601 meters looking forward 200.000000 meters along route # Maximum depth: 763.154721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.499601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318183; longitude = 120.291586; duration = 538; initialDepth = 712.642510; finalDepth = 711.499601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.608414 # Actual altitude: 50.608414 # Commanded vehicle depth: 711.499601 # Seafloor depth: -761.732048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 102.238307 meters # Minimum depth: 762.642510 meters looking forward 200.000000 meters along route # Maximum depth: 767.617038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 712.642510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317150; longitude = 120.292270; duration = 408; initialDepth = 714.506701; finalDepth = 712.642510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.696644 # Actual altitude: 50.696644 # Commanded vehicle depth: 712.64251 # Seafloor depth: -763.339154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 118.386755 meters # Minimum depth: 764.506701 meters looking forward 200.000000 meters along route # Maximum depth: 774.014617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.506701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316365; longitude = 120.292791; duration = 473; initialDepth = 723.115896; finalDepth = 714.506701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2121969999999 # Actual altitude: 54.2121969999999 # Commanded vehicle depth: 714.506701 # Seafloor depth: -768.718898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 136.666111 meters # Minimum depth: 773.115896 meters looking forward 200.000000 meters along route # Maximum depth: 776.929913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.115896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315456; longitude = 120.293393; duration = 546; initialDepth = 723.336442; finalDepth = 723.115896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2121969999999 # Actual altitude: 54.2121969999999 # Commanded vehicle depth: 723.115896 # Seafloor depth: -775.429491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 100.108195 meters # Minimum depth: 773.336442 meters looking forward 200.000000 meters along route # Maximum depth: 776.929913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 723.336442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314407; longitude = 120.294089; duration = 400; initialDepth = 722.972157; finalDepth = 723.336442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.210825 # Actual altitude: 53.210825 # Commanded vehicle depth: 723.336442 # Seafloor depth: -776.547267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 138.147324 meters # Minimum depth: 772.972157 meters looking forward 200.000000 meters along route # Maximum depth: 774.956011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 722.972157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313638; longitude = 120.294598; duration = 552; initialDepth = 713.173065; finalDepth = 722.972157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.210825 # Actual altitude: 53.210825 # Commanded vehicle depth: 722.972157 # Seafloor depth: -773.055906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 149.353200 meters # Minimum depth: 763.173065 meters looking forward 200.000000 meters along route # Maximum depth: 774.822906 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 713.173065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.312577; longitude = 120.295301; duration = 597; # abortOnTimeout = True; initialDepth = 702.173912; finalDepth = 713.173065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.649841 # Actual altitude: 61.649841 # Commanded vehicle depth: 713.173065 # Seafloor depth: -774.822906 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 146.933402 meters # Minimum depth: 752.173912 meters looking forward 200.000000 meters along route # Maximum depth: 763.173065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.173912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.313032; longitude = 120.296664; duration = 587; # abortOnTimeout = True; initialDepth = 703.136079; finalDepth = 702.173912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.649841 # Actual altitude: 61.649841 # Commanded vehicle depth: 702.173912 # Seafloor depth: -756.020477 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 110.803022 meters # Minimum depth: 753.136079 meters looking forward 200.000000 meters along route # Maximum depth: 756.056975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.136079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.314155; longitude = 120.295907; duration = 443; initialDepth = 705.470612; finalDepth = 703.136079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8465650000001 # Actual altitude: 53.8465650000001 # Commanded vehicle depth: 703.136079 # Seafloor depth: -755.475803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.969109 meters # Minimum depth: 755.470612 meters looking forward 200.000000 meters along route # Maximum depth: 757.215171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.470612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315001; longitude = 120.295336; duration = 475; initialDepth = 706.966267; finalDepth = 705.470612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.339724 # Actual altitude: 52.339724 # Commanded vehicle depth: 705.470612 # Seafloor depth: -755.928469 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 123.019700 meters # Minimum depth: 756.966267 meters looking forward 200.000000 meters along route # Maximum depth: 760.802170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 706.966267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.315911; longitude = 120.294723; duration = 492; initialDepth = 705.720155; finalDepth = 706.966267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.315296 # Actual altitude: 52.315296 # Commanded vehicle depth: 706.966267 # Seafloor depth: -759.281563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 114.917698 meters # Minimum depth: 755.720155 meters looking forward 200.000000 meters along route # Maximum depth: 760.802170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.720155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.316851; longitude = 120.294089; duration = 459; initialDepth = 704.641735; finalDepth = 705.720155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8425140000001 # Actual altitude: 54.8425140000001 # Commanded vehicle depth: 705.720155 # Seafloor depth: -760.562669 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.968289 meters # Minimum depth: 754.641735 meters looking forward 200.000000 meters along route # Maximum depth: 756.516775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.641735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.317729; longitude = 120.293496; duration = 475; initialDepth = 703.332511; finalDepth = 704.641735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8425140000001 # Actual altitude: 54.8425140000001 # Commanded vehicle depth: 704.641735 # Seafloor depth: -754.641735 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.968015 meters # Minimum depth: 753.332511 meters looking forward 200.000000 meters along route # Maximum depth: 756.216424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.332511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.318638; longitude = 120.292883; duration = 475; initialDepth = 703.738933; finalDepth = 703.332511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 703.332511 # Seafloor depth: -753.332511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.967743 meters # Minimum depth: 753.738933 meters looking forward 200.000000 meters along route # Maximum depth: 756.218774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.738933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.319547; longitude = 120.292270; duration = 475; initialDepth = 703.876876; finalDepth = 703.738933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4798410000001 # Actual altitude: 52.4798410000001 # Commanded vehicle depth: 703.738933 # Seafloor depth: -756.218774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.967469 meters # Minimum depth: 753.876876 meters looking forward 200.000000 meters along route # Maximum depth: 754.879925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.876876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.320456; longitude = 120.291657; duration = 475; initialDepth = 703.738736; finalDepth = 703.876876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4798410000001 # Actual altitude: 52.4798410000001 # Commanded vehicle depth: 703.876876 # Seafloor depth: -753.876876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.967195 meters # Minimum depth: 753.738736 meters looking forward 200.000000 meters along route # Maximum depth: 756.498766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.738736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.321365; longitude = 120.291044; duration = 475; initialDepth = 703.738736; finalDepth = 703.738736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.315553 # Actual altitude: 50.315553 # Commanded vehicle depth: 703.738736 # Seafloor depth: -754.054289 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.966923 meters # Minimum depth: 753.738736 meters looking forward 200.000000 meters along route # Maximum depth: 762.278195 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.738736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.322274; longitude = 120.290431; duration = 475; initialDepth = 710.958795; finalDepth = 703.738736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.969353 # Actual altitude: 52.969353 # Commanded vehicle depth: 703.738736 # Seafloor depth: -756.708089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.966649 meters # Minimum depth: 760.958795 meters looking forward 200.000000 meters along route # Maximum depth: 762.751408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 710.958795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.323183; longitude = 120.289818; duration = 475; initialDepth = 700.091603; finalDepth = 710.958795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.969353 # Actual altitude: 52.969353 # Commanded vehicle depth: 710.958795 # Seafloor depth: -762.751408 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 118.966376 meters # Minimum depth: 750.091603 meters looking forward 200.000000 meters along route # Maximum depth: 761.923543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.091603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.324092; longitude = 120.289204; duration = 475; initialDepth = 685.805514; finalDepth = 700.091603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.526506 # Actual altitude: 57.526506 # Commanded vehicle depth: 700.091603 # Seafloor depth: -757.618109 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 85 # Segment length 138.786755 meters # Minimum depth: 735.805514 meters looking forward 200.000000 meters along route # Maximum depth: 753.437902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.805514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.325001; longitude = 120.288591; duration = 555; initialDepth = 679.777206; finalDepth = 685.805514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.9203269999999 # Actual altitude: 63.9203269999999 # Commanded vehicle depth: 685.805514 # Seafloor depth: -749.725841 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 129.894035 meters # Minimum depth: 729.777206 meters looking forward 200.000000 meters along route # Maximum depth: 739.855268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.777206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326062; longitude = 120.287876; duration = 519; # abortOnTimeout = True; initialDepth = 687.849672; finalDepth = 679.777206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9203269999999 # Actual altitude: 63.9203269999999 # Commanded vehicle depth: 679.777206 # Seafloor depth: -729.777206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 118.956707 meters # Minimum depth: 737.849672 meters looking forward 200.000000 meters along route # Maximum depth: 758.812642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.849672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326695; longitude = 120.286816; duration = 475; initialDepth = 699.286144; finalDepth = 687.849672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0161129999999 # Actual altitude: 58.0161129999999 # Commanded vehicle depth: 687.849672 # Seafloor depth: -745.865785 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 103.814056 meters # Minimum depth: 749.286144 meters looking forward 200.000000 meters along route # Maximum depth: 759.763403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.286144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327274; longitude = 120.285845; duration = 415; initialDepth = 709.503056; finalDepth = 699.286144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.651715 # Actual altitude: 59.651715 # Commanded vehicle depth: 699.286144 # Seafloor depth: -758.937859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 111.384795 meters # Minimum depth: 759.503056 meters looking forward 200.000000 meters along route # Maximum depth: 762.388800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 709.503056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327780; longitude = 120.284998; duration = 445; initialDepth = 711.037331; finalDepth = 709.503056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.651715 # Actual altitude: 59.651715 # Commanded vehicle depth: 709.503056 # Seafloor depth: -759.503056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 111.384402 meters # Minimum depth: 761.037331 meters looking forward 200.000000 meters along route # Maximum depth: 763.404390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.037331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328322; longitude = 120.284089; duration = 445; initialDepth = 711.661933; finalDepth = 711.037331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.668795 # Actual altitude: 51.668795 # Commanded vehicle depth: 711.037331 # Seafloor depth: -762.706126 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 111.384012 meters # Minimum depth: 761.661933 meters looking forward 200.000000 meters along route # Maximum depth: 763.404390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 711.661933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328865; longitude = 120.283179; duration = 445; initialDepth = 708.289405; finalDepth = 711.661933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.668795 # Actual altitude: 51.668795 # Commanded vehicle depth: 711.661933 # Seafloor depth: -762.496954 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 121.915038 meters # Minimum depth: 758.289405 meters looking forward 200.000000 meters along route # Maximum depth: 761.838270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 708.289405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329408; longitude = 120.282270; duration = 487; initialDepth = 707.063000; finalDepth = 708.289405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.272291 # Actual altitude: 52.272291 # Commanded vehicle depth: 708.289405 # Seafloor depth: -760.561696 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 100.851811 meters # Minimum depth: 757.063000 meters looking forward 200.000000 meters along route # Maximum depth: 760.267703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.063000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330001; longitude = 120.281275; duration = 403; initialDepth = 701.527738; finalDepth = 707.063000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.272291 # Actual altitude: 52.272291 # Commanded vehicle depth: 707.063 # Seafloor depth: -758.184786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 111.382837 meters # Minimum depth: 751.527738 meters looking forward 200.000000 meters along route # Maximum depth: 757.355498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.527738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330493; longitude = 120.280452; duration = 445; initialDepth = 696.898639; finalDepth = 701.527738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.074664 # Actual altitude: 55.074664 # Commanded vehicle depth: 701.527738 # Seafloor depth: -756.602402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 84 # Segment length 129.888523 meters # Minimum depth: 746.898639 meters looking forward 200.000000 meters along route # Maximum depth: 752.414047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.898639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331035; longitude = 120.279543; duration = 519; initialDepth = 696.898639; finalDepth = 696.898639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.074664 # Actual altitude: 55.074664 # Commanded vehicle depth: 696.898639 # Seafloor depth: -750.236033 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 146.668387 meters # Minimum depth: 746.898639 meters looking forward 200.000000 meters along route # Maximum depth: 754.881059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.898639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331668; longitude = 120.278483; duration = 586; # abortOnTimeout = True; initialDepth = 702.039505; finalDepth = 696.898639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.337394 # Actual altitude: 53.337394 # Commanded vehicle depth: 696.898639 # Seafloor depth: -748.857468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 110.011207 meters # Minimum depth: 752.039505 meters looking forward 200.000000 meters along route # Maximum depth: 754.881059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 702.039505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330456; longitude = 120.277912; duration = 440; initialDepth = 698.053483; finalDepth = 702.039505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.958829 # Actual altitude: 51.958829 # Commanded vehicle depth: 702.039505 # Seafloor depth: -753.626116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 110.011273 meters # Minimum depth: 748.053483 meters looking forward 200.000000 meters along route # Maximum depth: 752.244393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 698.053483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329547; longitude = 120.277484; duration = 440; initialDepth = 693.282789; finalDepth = 698.053483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2240449999999 # Actual altitude: 52.2240449999999 # Commanded vehicle depth: 698.053483 # Seafloor depth: -750.277528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 110.011339 meters # Minimum depth: 743.282789 meters looking forward 200.000000 meters along route # Maximum depth: 748.053738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.282789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328638; longitude = 120.277056; duration = 440; initialDepth = 685.680115; finalDepth = 693.282789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.314777 # Actual altitude: 52.314777 # Commanded vehicle depth: 693.282789 # Seafloor depth: -745.597566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 146.633303 meters # Minimum depth: 735.680115 meters looking forward 200.000000 meters along route # Maximum depth: 743.282789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.680115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327729; longitude = 120.276628; duration = 586; initialDepth = 668.859517; finalDepth = 685.680115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.064402 # Actual altitude: 56.064402 # Commanded vehicle depth: 685.680115 # Seafloor depth: -741.744517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 82 # Segment length 119.313082 meters # Minimum depth: 718.859517 meters looking forward 200.000000 meters along route # Maximum depth: 739.011673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.859517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326517; longitude = 120.276058; duration = 477; # abortOnTimeout = True; initialDepth = 662.531318; finalDepth = 668.859517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.210765 # Actual altitude: 63.210765 # Commanded vehicle depth: 668.859517 # Seafloor depth: -732.070282 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 82 # Segment length 102.295966 meters # Minimum depth: 712.531318 meters looking forward 200.000000 meters along route # Maximum depth: 722.137529 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.531318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326948; longitude = 120.274998; duration = 409; initialDepth = 662.531318; finalDepth = 662.531318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.210765 # Actual altitude: 63.210765 # Commanded vehicle depth: 662.531318 # Seafloor depth: -713.277023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 102.295661 meters # Minimum depth: 712.531318 meters looking forward 200.000000 meters along route # Maximum depth: 721.518410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.531318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327317; longitude = 120.274089; duration = 409; initialDepth = 671.518410; finalDepth = 662.531318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.653207 # Actual altitude: 54.653207 # Commanded vehicle depth: 662.531318 # Seafloor depth: -717.184525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 102.295354 meters # Minimum depth: 721.518410 meters looking forward 200.000000 meters along route # Maximum depth: 727.205668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.518410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327686; longitude = 120.273180; duration = 409; initialDepth = 677.205668; finalDepth = 671.518410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.653207 # Actual altitude: 54.653207 # Commanded vehicle depth: 671.51841 # Seafloor depth: -725.374174 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 119.322791 meters # Minimum depth: 727.205668 meters looking forward 200.000000 meters along route # Maximum depth: 728.866601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.205668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328055; longitude = 120.272270; duration = 477; initialDepth = 676.128602; finalDepth = 677.205668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.855764 # Actual altitude: 53.855764 # Commanded vehicle depth: 677.205668 # Seafloor depth: -728.479536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 126.143809 meters # Minimum depth: 726.128602 meters looking forward 200.000000 meters along route # Maximum depth: 728.835134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.128602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328486; longitude = 120.271210; duration = 504; # abortOnTimeout = True; initialDepth = 673.132070; finalDepth = 676.128602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.673766 # Actual altitude: 51.673766 # Commanded vehicle depth: 676.128602 # Seafloor depth: -727.802368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 81 # Segment length 125.894588 meters # Minimum depth: 723.132070 meters looking forward 200.000000 meters along route # Maximum depth: 726.128602 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.132070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328334; longitude = 120.269998; duration = 503; initialDepth = 672.528352; finalDepth = 673.132070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.766344 # Actual altitude: 51.766344 # Commanded vehicle depth: 673.13207 # Seafloor depth: -724.898414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 110.587953 meters # Minimum depth: 722.528352 meters looking forward 200.000000 meters along route # Maximum depth: 723.711462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.528352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328183; longitude = 120.268788; duration = 442; initialDepth = 671.935111; finalDepth = 672.528352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.766344 # Actual altitude: 51.766344 # Commanded vehicle depth: 672.528352 # Seafloor depth: -723.190872 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 141.889530 meters # Minimum depth: 721.935111 meters looking forward 200.000000 meters along route # Maximum depth: 724.338303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.935111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328050; longitude = 120.267725; duration = 567; initialDepth = 674.338303; finalDepth = 671.935111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.66252 # Actual altitude: 50.66252 # Commanded vehicle depth: 671.935111 # Seafloor depth: -721.935111 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 125.946628 meters # Minimum depth: 724.338303 meters looking forward 200.000000 meters along route # Maximum depth: 729.099870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.338303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327880; longitude = 120.266361; duration = 503; initialDepth = 678.559179; finalDepth = 674.338303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.583612 # Actual altitude: 52.583612 # Commanded vehicle depth: 674.338303 # Seafloor depth: -726.921915 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 110.535931 meters # Minimum depth: 728.559179 meters looking forward 200.000000 meters along route # Maximum depth: 729.099870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.559179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327729; longitude = 120.265151; duration = 442; initialDepth = 678.789490; finalDepth = 678.559179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.583612 # Actual altitude: 52.583612 # Commanded vehicle depth: 678.559179 # Seafloor depth: -728.987196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 141.889540 meters # Minimum depth: 728.789490 meters looking forward 200.000000 meters along route # Maximum depth: 729.770248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.789490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327596; longitude = 120.264089; duration = 567; initialDepth = 677.722697; finalDepth = 678.789490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.505076 # Actual altitude: 50.505076 # Commanded vehicle depth: 678.78949 # Seafloor depth: -729.294566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 125.998669 meters # Minimum depth: 727.722697 meters looking forward 200.000000 meters along route # Maximum depth: 729.515626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 677.722697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327426; longitude = 120.262725; duration = 503; initialDepth = 676.550156; finalDepth = 677.722697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.095594 # Actual altitude: 51.095594 # Commanded vehicle depth: 677.722697 # Seafloor depth: -728.818291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 110.483908 meters # Minimum depth: 726.550156 meters looking forward 200.000000 meters along route # Maximum depth: 728.249001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.550156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327274; longitude = 120.261514; duration = 441; initialDepth = 674.171904; finalDepth = 676.550156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.095594 # Actual altitude: 51.095594 # Commanded vehicle depth: 676.550156 # Seafloor depth: -727.596157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 141.889552 meters # Minimum depth: 724.171904 meters looking forward 200.000000 meters along route # Maximum depth: 726.550156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.171904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327141; longitude = 120.260452; duration = 567; initialDepth = 673.086035; finalDepth = 674.171904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2505159999999 # Actual altitude: 51.2505159999999 # Commanded vehicle depth: 674.171904 # Seafloor depth: -725.422420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 141.889556 meters # Minimum depth: 723.086035 meters looking forward 200.000000 meters along route # Maximum depth: 724.171904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.086035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326971; longitude = 120.259089; duration = 567; initialDepth = 672.662417; finalDepth = 673.086035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2505159999999 # Actual altitude: 51.2505159999999 # Commanded vehicle depth: 673.086035 # Seafloor depth: -723.803019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 110.397051 meters # Minimum depth: 722.662417 meters looking forward 200.000000 meters along route # Maximum depth: 724.551151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.662417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326801; longitude = 120.257725; duration = 441; initialDepth = 669.765488; finalDepth = 672.662417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.888734 # Actual altitude: 51.888734 # Commanded vehicle depth: 672.662417 # Seafloor depth: -724.551151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 179.758512 meters # Minimum depth: 719.765488 meters looking forward 200.000000 meters along route # Maximum depth: 722.662417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.765488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326668; longitude = 120.256664; duration = 719; # abortOnTimeout = True; initialDepth = 668.008379; finalDepth = 669.765488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.998916 # Actual altitude: 51.998916 # Commanded vehicle depth: 669.765488 # Seafloor depth: -721.764404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 80 # Segment length 147.107203 meters # Minimum depth: 718.008379 meters looking forward 200.000000 meters along route # Maximum depth: 719.765488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.008379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327144; longitude = 120.254998; duration = 588; initialDepth = 668.008379; finalDepth = 668.008379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.998916 # Actual altitude: 51.998916 # Commanded vehicle depth: 668.008379 # Seafloor depth: -718.898496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 80 # Segment length 130.756120 meters # Minimum depth: 718.008379 meters looking forward 200.000000 meters along route # Maximum depth: 721.984698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.008379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327534; longitude = 120.253634; duration = 523; initialDepth = 671.984698; finalDepth = 668.008379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.890117 # Actual altitude: 50.890117 # Commanded vehicle depth: 668.008379 # Seafloor depth: -718.749030 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 147.871791 meters # Minimum depth: 721.984698 meters looking forward 200.000000 meters along route # Maximum depth: 723.125761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.984698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327880; longitude = 120.252422; duration = 591; # abortOnTimeout = True; initialDepth = 672.763112; finalDepth = 671.984698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.740651 # Actual altitude: 50.740651 # Commanded vehicle depth: 671.984698 # Seafloor depth: -722.242905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 79 # Segment length 126.740774 meters # Minimum depth: 722.763112 meters looking forward 200.000000 meters along route # Maximum depth: 724.180870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.763112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328778; longitude = 120.251361; duration = 506; initialDepth = 674.180870; finalDepth = 672.763112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.359761 # Actual altitude: 50.359761 # Commanded vehicle depth: 672.763112 # Seafloor depth: -723.122873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 149.688153 meters # Minimum depth: 724.180870 meters looking forward 200.000000 meters along route # Maximum depth: 724.984791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.180870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329547; longitude = 120.250452; duration = 598; initialDepth = 674.461880; finalDepth = 674.180870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.359761 # Actual altitude: 50.359761 # Commanded vehicle depth: 674.18087 # Seafloor depth: -724.181373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 124.853913 meters # Minimum depth: 724.461880 meters looking forward 200.000000 meters along route # Maximum depth: 725.612969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.461880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330456; longitude = 120.249379; duration = 499; initialDepth = 675.263730; finalDepth = 674.461880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.6148890000001 # Actual altitude: 50.6148890000001 # Commanded vehicle depth: 674.46188 # Seafloor depth: -725.076769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 76.753649 meters # Minimum depth: 725.263730 meters looking forward 200.000000 meters along route # Maximum depth: 725.908245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.263730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331214; longitude = 120.248483; duration = 307; # abortOnTimeout = True; initialDepth = 673.818855; finalDepth = 675.263730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6148890000001 # Actual altitude: 50.6148890000001 # Commanded vehicle depth: 675.26373 # Seafloor depth: -725.343933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 115.213282 meters # Minimum depth: 723.818855 meters looking forward 200.000000 meters along route # Maximum depth: 725.908245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.818855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331820; longitude = 120.248122; duration = 460; initialDepth = 669.956493; finalDepth = 673.818855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.354118 # Actual altitude: 51.354118 # Commanded vehicle depth: 673.818855 # Seafloor depth: -725.172973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 115.213062 meters # Minimum depth: 719.956493 meters looking forward 200.000000 meters along route # Maximum depth: 724.546749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.956493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332729; longitude = 120.247580; duration = 460; initialDepth = 664.972774; finalDepth = 669.956493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5653209999999 # Actual altitude: 52.5653209999999 # Commanded vehicle depth: 669.956493 # Seafloor depth: -722.521814 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 115.212841 meters # Minimum depth: 714.972774 meters looking forward 200.000000 meters along route # Maximum depth: 720.241623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.972774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333638; longitude = 120.247039; duration = 460; initialDepth = 657.135812; finalDepth = 664.972774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.900844 # Actual altitude: 52.900844 # Commanded vehicle depth: 664.972774 # Seafloor depth: -717.873618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 125.557650 meters # Minimum depth: 707.135812 meters looking forward 200.000000 meters along route # Maximum depth: 715.688229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.135812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334547; longitude = 120.246497; duration = 502; initialDepth = 657.135812; finalDepth = 657.135812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.598806 # Actual altitude: 53.598806 # Commanded vehicle depth: 657.135812 # Seafloor depth: -710.734618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 104.867369 meters # Minimum depth: 707.135812 meters looking forward 200.000000 meters along route # Maximum depth: 716.549302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.135812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335538; longitude = 120.245907; duration = 419; initialDepth = 655.022114; finalDepth = 657.135812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.944873 # Actual altitude: 53.944873 # Commanded vehicle depth: 657.135812 # Seafloor depth: -711.080685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 115.212178 meters # Minimum depth: 705.022114 meters looking forward 200.000000 meters along route # Maximum depth: 716.549302 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.022114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336365; longitude = 120.245414; duration = 460; initialDepth = 655.022114; finalDepth = 655.022114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.944873 # Actual altitude: 53.944873 # Commanded vehicle depth: 655.022114 # Seafloor depth: -708.265255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 134.443293 meters # Minimum depth: 705.022114 meters looking forward 200.000000 meters along route # Maximum depth: 716.076673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.022114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337274; longitude = 120.244872; duration = 537; initialDepth = 655.368602; finalDepth = 655.022114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.354117 # Actual altitude: 55.354117 # Commanded vehicle depth: 655.022114 # Seafloor depth: -710.376231 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 77 # Segment length 83.946516 meters # Minimum depth: 705.368602 meters looking forward 200.000000 meters along route # Maximum depth: 716.076673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.368602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338335; longitude = 120.244240; duration = 335; # abortOnTimeout = True; initialDepth = 653.852406; finalDepth = 655.368602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.354117 # Actual altitude: 55.354117 # Commanded vehicle depth: 655.368602 # Seafloor depth: -707.545761 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 77 # Segment length 100.766647 meters # Minimum depth: 703.852406 meters looking forward 200.000000 meters along route # Maximum depth: 707.545761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.852406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339092; longitude = 120.244240; duration = 403; initialDepth = 652.124479; finalDepth = 653.852406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.177159 # Actual altitude: 52.177159 # Commanded vehicle depth: 653.852406 # Seafloor depth: -703.858203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.766657 meters # Minimum depth: 702.124479 meters looking forward 200.000000 meters along route # Maximum depth: 703.852406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 652.124479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340001; longitude = 120.244240; duration = 403; initialDepth = 647.740848; finalDepth = 652.124479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3796920000001 # Actual altitude: 51.3796920000001 # Commanded vehicle depth: 652.124479 # Seafloor depth: -703.504171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 100.766666 meters # Minimum depth: 697.740848 meters looking forward 200.000000 meters along route # Maximum depth: 702.124479 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.740848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340911; longitude = 120.244240; duration = 403; initialDepth = 643.426893; finalDepth = 647.740848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.307738 # Actual altitude: 52.307738 # Commanded vehicle depth: 647.740848 # Seafloor depth: -700.048586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 117.536934 meters # Minimum depth: 693.426893 meters looking forward 200.000000 meters along route # Maximum depth: 697.740848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.426893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341820; longitude = 120.244240; duration = 470; initialDepth = 641.664551; finalDepth = 643.426893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.307738 # Actual altitude: 52.307738 # Commanded vehicle depth: 643.426893 # Seafloor depth: -694.301348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 91.696274 meters # Minimum depth: 691.664551 meters looking forward 200.000000 meters along route # Maximum depth: 693.761130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.664551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342880; longitude = 120.244240; duration = 366; # abortOnTimeout = True; initialDepth = 642.455146; finalDepth = 641.664551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.874455 # Actual altitude: 50.874455 # Commanded vehicle depth: 641.664551 # Seafloor depth: -691.664551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 110.014966 meters # Minimum depth: 692.455146 meters looking forward 200.000000 meters along route # Maximum depth: 693.778582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.455146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343313; longitude = 120.244998; duration = 440; initialDepth = 638.144122; finalDepth = 642.455146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.323436 # Actual altitude: 51.323436 # Commanded vehicle depth: 642.455146 # Seafloor depth: -693.778582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 110.014756 meters # Minimum depth: 688.144122 meters looking forward 200.000000 meters along route # Maximum depth: 693.326692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.144122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343833; longitude = 120.245907; duration = 440; initialDepth = 637.715234; finalDepth = 638.144122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.598488 # Actual altitude: 52.598488 # Commanded vehicle depth: 638.144122 # Seafloor depth: -690.742610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 110.014546 meters # Minimum depth: 687.715234 meters looking forward 200.000000 meters along route # Maximum depth: 688.144161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.715234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344352; longitude = 120.246816; duration = 440; initialDepth = 634.555454; finalDepth = 637.715234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.598488 # Actual altitude: 52.598488 # Commanded vehicle depth: 637.715234 # Seafloor depth: -687.715234 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 110.014336 meters # Minimum depth: 684.555454 meters looking forward 200.000000 meters along route # Maximum depth: 687.737782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.555454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344872; longitude = 120.247725; duration = 440; initialDepth = 633.866275; finalDepth = 634.555454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5687889999999 # Actual altitude: 51.5687889999999 # Commanded vehicle depth: 634.555454 # Seafloor depth: -686.124243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 110.014126 meters # Minimum depth: 683.866275 meters looking forward 200.000000 meters along route # Maximum depth: 685.406121 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.866275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345391; longitude = 120.248634; duration = 440; initialDepth = 628.629978; finalDepth = 633.866275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5687889999999 # Actual altitude: 51.5687889999999 # Commanded vehicle depth: 633.866275 # Seafloor depth: -685.127202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 128.377362 meters # Minimum depth: 678.629978 meters looking forward 200.000000 meters along route # Maximum depth: 685.135768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.629978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345911; longitude = 120.249543; duration = 513; initialDepth = 623.701336; finalDepth = 628.629978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.233222 # Actual altitude: 55.233222 # Commanded vehicle depth: 628.629978 # Seafloor depth: -683.863200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 75 # Segment length 109.383600 meters # Minimum depth: 673.701336 meters looking forward 200.000000 meters along route # Maximum depth: 680.300921 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.701336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346517; longitude = 120.250604; duration = 437; # abortOnTimeout = True; initialDepth = 614.559426; finalDepth = 623.701336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.233222 # Actual altitude: 55.233222 # Commanded vehicle depth: 623.701336 # Seafloor depth: -677.655182 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 75 # Segment length 124.987282 meters # Minimum depth: 664.559426 meters looking forward 200.000000 meters along route # Maximum depth: 673.701336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.559426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346517; longitude = 120.249543; duration = 499; initialDepth = 609.776764; finalDepth = 614.559426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.830479 # Actual altitude: 56.830479 # Commanded vehicle depth: 614.559426 # Seafloor depth: -671.389905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 74 # Segment length 184.407357 meters # Minimum depth: 659.776764 meters looking forward 200.000000 meters along route # Maximum depth: 672.932692 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.776764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346517; longitude = 120.248331; duration = 737; # abortOnTimeout = True; initialDepth = 622.745442; finalDepth = 609.776764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.830479 # Actual altitude: 56.830479 # Commanded vehicle depth: 609.776764 # Seafloor depth: -659.776764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 74 # Segment length 110.648000 meters # Minimum depth: 672.745442 meters looking forward 200.000000 meters along route # Maximum depth: 679.028327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.745442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345633; longitude = 120.246816; duration = 442; initialDepth = 628.859184; finalDepth = 622.745442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.142574 # Actual altitude: 54.142574 # Commanded vehicle depth: 622.745442 # Seafloor depth: -676.888016 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 115.946109 meters # Minimum depth: 678.859184 meters looking forward 200.000000 meters along route # Maximum depth: 682.068449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.859184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345103; longitude = 120.245907; duration = 463; initialDepth = 629.969993; finalDepth = 628.859184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.142574 # Actual altitude: 54.142574 # Commanded vehicle depth: 628.859184 # Seafloor depth: -678.859184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 105.350533 meters # Minimum depth: 679.969993 meters looking forward 200.000000 meters along route # Maximum depth: 682.068449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.969993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344547; longitude = 120.244954; duration = 421; initialDepth = 622.675744; finalDepth = 629.969993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0610069999999 # Actual altitude: 52.0610069999999 # Commanded vehicle depth: 629.969993 # Seafloor depth: -682.031000 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 147.471358 meters # Minimum depth: 672.675744 meters looking forward 200.000000 meters along route # Maximum depth: 679.969993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.675744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344042; longitude = 120.244089; duration = 589; initialDepth = 618.133514; finalDepth = 622.675744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.797802 # Actual altitude: 56.797802 # Commanded vehicle depth: 622.675744 # Seafloor depth: -679.473546 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 117.587237 meters # Minimum depth: 668.133514 meters looking forward 200.000000 meters along route # Maximum depth: 677.501497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.133514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343335; longitude = 120.242877; duration = 470; # abortOnTimeout = True; initialDepth = 627.501497; finalDepth = 618.133514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.797802 # Actual altitude: 56.797802 # Commanded vehicle depth: 618.133514 # Seafloor depth: -668.133514 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 100.766554 meters # Minimum depth: 677.501497 meters looking forward 200.000000 meters along route # Maximum depth: 684.343566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.501497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342274; longitude = 120.242877; duration = 403; initialDepth = 634.343566; finalDepth = 627.501497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.250268 # Actual altitude: 54.250268 # Commanded vehicle depth: 627.501497 # Seafloor depth: -681.751765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 100.766545 meters # Minimum depth: 684.343566 meters looking forward 200.000000 meters along route # Maximum depth: 690.952790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.343566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341365; longitude = 120.242877; duration = 403; initialDepth = 640.536905; finalDepth = 634.343566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.132877 # Actual altitude: 55.132877 # Commanded vehicle depth: 634.343566 # Seafloor depth: -689.476443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 73 # Segment length 134.339670 meters # Minimum depth: 690.536905 meters looking forward 200.000000 meters along route # Maximum depth: 691.616248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.536905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340456; longitude = 120.242877; duration = 537; initialDepth = 641.135559; finalDepth = 640.536905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.132877 # Actual altitude: 55.132877 # Commanded vehicle depth: 640.536905 # Seafloor depth: -691.616248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 175.058344 meters # Minimum depth: 691.135559 meters looking forward 200.000000 meters along route # Maximum depth: 704.051026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.135559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339244; longitude = 120.242877; duration = 700; # abortOnTimeout = True; initialDepth = 653.805773; finalDepth = 641.135559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.079343 # Actual altitude: 51.079343 # Commanded vehicle depth: 641.135559 # Seafloor depth: -691.135559 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 72 # Segment length 143.271995 meters # Minimum depth: 703.805773 meters looking forward 200.000000 meters along route # Maximum depth: 705.407131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.805773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339547; longitude = 120.244543; duration = 573; initialDepth = 655.407131; finalDepth = 653.805773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.245412 # Actual altitude: 50.245412 # Commanded vehicle depth: 653.805773 # Seafloor depth: -704.051185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 143.271916 meters # Minimum depth: 705.407131 meters looking forward 200.000000 meters along route # Maximum depth: 710.915405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.407131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339795; longitude = 120.245907; duration = 573; initialDepth = 660.269097; finalDepth = 655.407131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5112419999999 # Actual altitude: 51.5112419999999 # Commanded vehicle depth: 655.407131 # Seafloor depth: -706.918373 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 143.271838 meters # Minimum depth: 710.269097 meters looking forward 200.000000 meters along route # Maximum depth: 711.949650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.269097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340043; longitude = 120.247270; duration = 573; initialDepth = 650.404359; finalDepth = 660.269097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5112419999999 # Actual altitude: 51.5112419999999 # Commanded vehicle depth: 660.269097 # Seafloor depth: -711.582609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 143.271760 meters # Minimum depth: 700.404359 meters looking forward 200.000000 meters along route # Maximum depth: 711.217630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.404359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340291; longitude = 120.248634; duration = 573; initialDepth = 629.131536; finalDepth = 650.404359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.00108 # Actual altitude: 59.00108 # Commanded vehicle depth: 650.404359 # Seafloor depth: -709.405439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 72 # Segment length 127.370456 meters # Minimum depth: 679.131536 meters looking forward 200.000000 meters along route # Maximum depth: 700.406100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 629.131536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340539; longitude = 120.249998; duration = 509; initialDepth = 622.470881; finalDepth = 629.131536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.616927 # Actual altitude: 64.616927 # Commanded vehicle depth: 629.131536 # Seafloor depth: -693.748463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 174.331981 meters # Minimum depth: 672.470881 meters looking forward 200.000000 meters along route # Maximum depth: 675.954254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.470881 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340759; longitude = 120.251210; duration = 697; # abortOnTimeout = True; initialDepth = 621.974817; finalDepth = 622.470881; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.616927 # Actual altitude: 64.616927 # Commanded vehicle depth: 622.470881 # Seafloor depth: -675.954254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 144.382890 meters # Minimum depth: 671.974817 meters looking forward 200.000000 meters along route # Maximum depth: 672.530073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.974817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339547; longitude = 120.252287; duration = 577; initialDepth = 619.281104; finalDepth = 621.974817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.483373 # Actual altitude: 53.483373 # Commanded vehicle depth: 621.974817 # Seafloor depth: -672.530073 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 147.112715 meters # Minimum depth: 669.281104 meters looking forward 200.000000 meters along route # Maximum depth: 671.974817 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.281104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338543; longitude = 120.253180; duration = 588; initialDepth = 617.021816; finalDepth = 619.281104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.294819 # Actual altitude: 52.294819 # Commanded vehicle depth: 619.281104 # Seafloor depth: -671.575923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 71 # Segment length 122.563583 meters # Minimum depth: 667.021816 meters looking forward 200.000000 meters along route # Maximum depth: 669.627749 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.021816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337520; longitude = 120.254089; duration = 490; initialDepth = 613.528836; finalDepth = 617.021816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.294819 # Actual altitude: 52.294819 # Commanded vehicle depth: 617.021816 # Seafloor depth: -668.934555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 131.144498 meters # Minimum depth: 663.528836 meters looking forward 200.000000 meters along route # Maximum depth: 667.729572 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.528836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336668; longitude = 120.254846; duration = 524; # abortOnTimeout = True; initialDepth = 597.073994; finalDepth = 613.528836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.149081 # Actual altitude: 54.149081 # Commanded vehicle depth: 613.528836 # Seafloor depth: -667.677917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 112.407416 meters # Minimum depth: 647.073994 meters looking forward 200.000000 meters along route # Maximum depth: 664.491701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.073994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336015; longitude = 120.255907; duration = 449; initialDepth = 590.210817; finalDepth = 597.073994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.200226 # Actual altitude: 60.200226 # Commanded vehicle depth: 597.073994 # Seafloor depth: -657.274220 # 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 70 # Segment length 112.372701 meters # Minimum depth: 640.210817 meters looking forward 200.000000 meters along route # Maximum depth: 651.947840 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.210817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335456; longitude = 120.256816; duration = 449; initialDepth = 589.642431; finalDepth = 590.210817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.200226 # Actual altitude: 60.200226 # Commanded vehicle depth: 590.210817 # Seafloor depth: -647.072322 # 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 70 # Segment length 131.174392 meters # Minimum depth: 639.642431 meters looking forward 200.000000 meters along route # Maximum depth: 651.225819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.642431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334897; longitude = 120.257725; duration = 524; initialDepth = 589.898368; finalDepth = 589.642431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.861505 # Actual altitude: 56.861505 # Commanded vehicle depth: 589.642431 # Seafloor depth: -639.642431 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 79.320493 meters # Minimum depth: 639.898368 meters looking forward 200.000000 meters along route # Maximum depth: 659.642439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.898368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334244; longitude = 120.258786; duration = 317; # abortOnTimeout = True; initialDepth = 609.642439; finalDepth = 589.898368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.431634 # Actual altitude: 65.431634 # Commanded vehicle depth: 589.898368 # Seafloor depth: -655.330002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 142.856037 meters # Minimum depth: 659.642439 meters looking forward 200.000000 meters along route # Maximum depth: 678.371348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.642439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334370; longitude = 120.259543; duration = 571; initialDepth = 627.446632; finalDepth = 609.642439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.431634 # Actual altitude: 65.431634 # Commanded vehicle depth: 609.642439 # Seafloor depth: -666.094754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 142.855980 meters # Minimum depth: 677.446632 meters looking forward 200.000000 meters along route # Maximum depth: 686.998282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.446632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334597; longitude = 120.260907; duration = 571; initialDepth = 635.245357; finalDepth = 627.446632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.452315 # Actual altitude: 56.452315 # Commanded vehicle depth: 627.446632 # Seafloor depth: -680.209461 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 111.242939 meters # Minimum depth: 685.245357 meters looking forward 200.000000 meters along route # Maximum depth: 686.998282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.245357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334825; longitude = 120.262270; duration = 444; initialDepth = 635.245357; finalDepth = 635.245357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.762829 # Actual altitude: 52.762829 # Commanded vehicle depth: 635.245357 # Seafloor depth: -685.895470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 126.850232 meters # Minimum depth: 685.245357 meters looking forward 200.000000 meters along route # Maximum depth: 687.440513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.245357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335001; longitude = 120.263332; duration = 507; initialDepth = 637.440513; finalDepth = 635.245357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.650113 # Actual altitude: 50.650113 # Commanded vehicle depth: 635.245357 # Seafloor depth: -685.585022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 142.855825 meters # Minimum depth: 687.440513 meters looking forward 200.000000 meters along route # Maximum depth: 695.059255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.440513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335203; longitude = 120.264543; duration = 571; initialDepth = 642.858112; finalDepth = 637.440513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.308083 # Actual altitude: 52.308083 # Commanded vehicle depth: 637.440513 # Seafloor depth: -689.748596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 111.069203 meters # Minimum depth: 692.858112 meters looking forward 200.000000 meters along route # Maximum depth: 695.059255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.858112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335430; longitude = 120.265907; duration = 444; initialDepth = 642.235825; finalDepth = 642.858112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.308083 # Actual altitude: 52.308083 # Commanded vehicle depth: 642.858112 # Seafloor depth: -694.755133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 80.455980 meters # Minimum depth: 692.235825 meters looking forward 200.000000 meters along route # Maximum depth: 702.844063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.235825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335607; longitude = 120.266967; duration = 321; # abortOnTimeout = True; initialDepth = 648.659038; finalDepth = 642.235825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.897021 # Actual altitude: 51.897021 # Commanded vehicle depth: 642.235825 # Seafloor depth: -692.235825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 144.746641 meters # Minimum depth: 698.659038 meters looking forward 200.000000 meters along route # Maximum depth: 710.062971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.659038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335435; longitude = 120.267725; duration = 578; initialDepth = 660.062971; finalDepth = 648.659038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1455589999999 # Actual altitude: 55.1455589999999 # Commanded vehicle depth: 648.659038 # Seafloor depth: -703.804597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 128.693817 meters # Minimum depth: 710.062971 meters looking forward 200.000000 meters along route # Maximum depth: 723.467136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.062971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335125; longitude = 120.269089; duration = 514; initialDepth = 670.485947; finalDepth = 660.062971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.286774 # Actual altitude: 55.286774 # Commanded vehicle depth: 660.062971 # Seafloor depth: -715.349745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 79.212210 meters # Minimum depth: 720.485947 meters looking forward 200.000000 meters along route # Maximum depth: 727.054703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.485947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334850; longitude = 120.270301; duration = 316; # abortOnTimeout = True; initialDepth = 675.349181; finalDepth = 670.485947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.568756 # Actual altitude: 56.568756 # Commanded vehicle depth: 670.485947 # Seafloor depth: -727.054703 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 126.732910 meters # Minimum depth: 725.349181 meters looking forward 200.000000 meters along route # Maximum depth: 726.866796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.349181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334733; longitude = 120.269543; duration = 506; initialDepth = 674.229485; finalDepth = 675.349181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.568756 # Actual altitude: 56.568756 # Commanded vehicle depth: 675.349181 # Seafloor depth: -726.866796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 110.815937 meters # Minimum depth: 724.229485 meters looking forward 200.000000 meters along route # Maximum depth: 726.335353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.229485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334547; longitude = 120.268331; duration = 443; initialDepth = 672.029498; finalDepth = 674.229485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.517615 # Actual altitude: 51.517615 # Commanded vehicle depth: 674.229485 # Seafloor depth: -725.053856 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 142.529364 meters # Minimum depth: 722.029498 meters looking forward 200.000000 meters along route # Maximum depth: 724.229485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 672.029498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334384; longitude = 120.267270; duration = 570; initialDepth = 667.837977; finalDepth = 672.029498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.125214 # Actual altitude: 51.125214 # Commanded vehicle depth: 672.029498 # Seafloor depth: -723.154712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 142.529405 meters # Minimum depth: 717.837977 meters looking forward 200.000000 meters along route # Maximum depth: 722.271751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.837977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334174; longitude = 120.265907; duration = 570; initialDepth = 663.705287; finalDepth = 667.837977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.433774 # Actual altitude: 54.433774 # Commanded vehicle depth: 667.837977 # Seafloor depth: -722.271751 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 142.529446 meters # Minimum depth: 713.705287 meters looking forward 200.000000 meters along route # Maximum depth: 717.837977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 663.705287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333964; longitude = 120.264543; duration = 570; initialDepth = 661.883114; finalDepth = 663.705287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.433774 # Actual altitude: 54.433774 # Commanded vehicle depth: 663.705287 # Seafloor depth: -715.029164 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 142.529489 meters # Minimum depth: 711.883114 meters looking forward 200.000000 meters along route # Maximum depth: 714.332887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.883114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333754; longitude = 120.263180; duration = 570; initialDepth = 651.594709; finalDepth = 661.883114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4497730000001 # Actual altitude: 52.4497730000001 # Commanded vehicle depth: 661.883114 # Seafloor depth: -714.332887 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 142.529530 meters # Minimum depth: 701.594709 meters looking forward 200.000000 meters along route # Maximum depth: 711.883114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.594709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333545; longitude = 120.261816; duration = 570; initialDepth = 643.926781; finalDepth = 651.594709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6964750000001 # Actual altitude: 55.6964750000001 # Commanded vehicle depth: 651.594709 # Seafloor depth: -707.291184 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 103.056625 meters # Minimum depth: 693.926781 meters looking forward 200.000000 meters along route # Maximum depth: 703.293513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.926781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333335; longitude = 120.260452; duration = 412; initialDepth = 639.637000; finalDepth = 643.926781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6964750000001 # Actual altitude: 55.6964750000001 # Commanded vehicle depth: 643.926781 # Seafloor depth: -699.482386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 102.772403 meters # Minimum depth: 689.637000 meters looking forward 200.000000 meters along route # Maximum depth: 696.219087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.637000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333183; longitude = 120.259466; duration = 411; initialDepth = 628.166400; finalDepth = 639.637000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.555605 # Actual altitude: 55.555605 # Commanded vehicle depth: 639.637 # Seafloor depth: -693.595750 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 121.736641 meters # Minimum depth: 678.166400 meters looking forward 200.000000 meters along route # Maximum depth: 691.871288 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.166400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333032; longitude = 120.258483; duration = 486; # abortOnTimeout = True; initialDepth = 622.033813; finalDepth = 628.166400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.879453 # Actual altitude: 62.879453 # Commanded vehicle depth: 628.1664 # Seafloor depth: -691.045853 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 121.815193 meters # Minimum depth: 672.033813 meters looking forward 200.000000 meters along route # Maximum depth: 678.166400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.033813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333638; longitude = 120.257498; duration = 487; initialDepth = 618.208313; finalDepth = 622.033813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.879453 # Actual altitude: 62.879453 # Commanded vehicle depth: 622.033813 # Seafloor depth: -676.468292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 184.862780 meters # Minimum depth: 668.208313 meters looking forward 200.000000 meters along route # Maximum depth: 678.587421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.208313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334244; longitude = 120.256513; duration = 739; # abortOnTimeout = True; initialDepth = 626.053700; finalDepth = 618.208313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.434479 # Actual altitude: 54.434479 # Commanded vehicle depth: 618.208313 # Seafloor depth: -668.208313 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 129.403139 meters # Minimum depth: 676.053700 meters looking forward 200.000000 meters along route # Maximum depth: 695.502198 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.053700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335135; longitude = 120.254998; duration = 517; initialDepth = 634.194393; finalDepth = 626.053700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.8569349999999 # Actual altitude: 55.8569349999999 # Commanded vehicle depth: 626.0537 # Seafloor depth: -681.910635 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 183.491568 meters # Minimum depth: 684.194393 meters looking forward 200.000000 meters along route # Maximum depth: 698.725510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.194393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335759; longitude = 120.253937; duration = 733; # abortOnTimeout = True; initialDepth = 634.194393; finalDepth = 634.194393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.531117 # Actual altitude: 64.531117 # Commanded vehicle depth: 634.194393 # Seafloor depth: -698.725510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 114.708412 meters # Minimum depth: 684.194393 meters looking forward 200.000000 meters along route # Maximum depth: 686.243973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 634.194393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336971; longitude = 120.252725; duration = 458; initialDepth = 635.567295; finalDepth = 634.194393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.531117 # Actual altitude: 64.531117 # Commanded vehicle depth: 634.194393 # Seafloor depth: -684.599892 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 64 # Segment length 114.647991 meters # Minimum depth: 685.567295 meters looking forward 200.000000 meters along route # Maximum depth: 691.740053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.567295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337729; longitude = 120.251967; duration = 458; initialDepth = 636.534383; finalDepth = 635.567295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.311323 # Actual altitude: 52.311323 # Commanded vehicle depth: 635.567295 # Seafloor depth: -687.878618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 118.386130 meters # Minimum depth: 686.534383 meters looking forward 200.000000 meters along route # Maximum depth: 694.225861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.534383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338486; longitude = 120.251210; duration = 473; # abortOnTimeout = True; initialDepth = 630.835592; finalDepth = 636.534383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.691478 # Actual altitude: 57.691478 # Commanded vehicle depth: 636.534383 # Seafloor depth: -694.225861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 63 # Segment length 101.446719 meters # Minimum depth: 680.835592 meters looking forward 200.000000 meters along route # Maximum depth: 686.534383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 630.835592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339547; longitude = 120.251077; duration = 405; initialDepth = 628.587519; finalDepth = 630.835592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.691478 # Actual altitude: 57.691478 # Commanded vehicle depth: 630.835592 # Seafloor depth: -683.497464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446709 meters # Minimum depth: 678.587519 meters looking forward 200.000000 meters along route # Maximum depth: 680.835592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.587519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340456; longitude = 120.250964; duration = 405; initialDepth = 628.587519; finalDepth = 628.587519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.661872 # Actual altitude: 52.661872 # Commanded vehicle depth: 628.587519 # Seafloor depth: -679.068557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446700 meters # Minimum depth: 678.587519 meters looking forward 200.000000 meters along route # Maximum depth: 697.566935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.587519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341365; longitude = 120.250850; duration = 405; initialDepth = 647.566935; finalDepth = 628.587519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7471889999999 # Actual altitude: 52.7471889999999 # Commanded vehicle depth: 628.587519 # Seafloor depth: -681.334708 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446691 meters # Minimum depth: 697.566935 meters looking forward 200.000000 meters along route # Maximum depth: 706.851918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.566935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342274; longitude = 120.250736; duration = 405; initialDepth = 654.714489; finalDepth = 647.566935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.454009 # Actual altitude: 57.454009 # Commanded vehicle depth: 647.566935 # Seafloor depth: -705.020944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446682 meters # Minimum depth: 704.714489 meters looking forward 200.000000 meters along route # Maximum depth: 706.851918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.714489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343183; longitude = 120.250623; duration = 405; initialDepth = 651.051871; finalDepth = 654.714489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.454009 # Actual altitude: 57.454009 # Commanded vehicle depth: 654.714489 # Seafloor depth: -706.704513 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446672 meters # Minimum depth: 701.051871 meters looking forward 200.000000 meters along route # Maximum depth: 704.714489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.051871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344092; longitude = 120.250509; duration = 405; initialDepth = 642.884738; finalDepth = 651.051871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.006278 # Actual altitude: 52.006278 # Commanded vehicle depth: 651.051871 # Seafloor depth: -703.058149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 101.446664 meters # Minimum depth: 692.884738 meters looking forward 200.000000 meters along route # Maximum depth: 701.056821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.884738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345001; longitude = 120.250395; duration = 405; initialDepth = 619.857415; finalDepth = 642.884738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4758 # Actual altitude: 54.4758 # Commanded vehicle depth: 642.884738 # Seafloor depth: -697.360538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 63 # Segment length 118.340686 meters # Minimum depth: 669.857415 meters looking forward 200.000000 meters along route # Maximum depth: 692.884738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.857415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345911; longitude = 120.250282; duration = 473; initialDepth = 602.207352; finalDepth = 619.857415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.6335300000001 # Actual altitude: 67.6335300000001 # Commanded vehicle depth: 619.857415 # Seafloor depth: -687.490945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 62 # Segment length 85.359572 meters # Minimum depth: 652.207352 meters looking forward 200.000000 meters along route # Maximum depth: 678.002539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.207352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346971; longitude = 120.250149; duration = 341; # abortOnTimeout = True; initialDepth = 597.949719; finalDepth = 602.207352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6335300000001 # Actual altitude: 67.6335300000001 # Commanded vehicle depth: 602.207352 # Seafloor depth: -656.583801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 102.400914 meters # Minimum depth: 647.949719 meters looking forward 200.000000 meters along route # Maximum depth: 656.583801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.949719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347281; longitude = 120.250907; duration = 409; initialDepth = 596.503510; finalDepth = 597.949719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.376449 # Actual altitude: 54.376449 # Commanded vehicle depth: 597.949719 # Seafloor depth: -652.045684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400766 meters # Minimum depth: 646.503510 meters looking forward 200.000000 meters along route # Maximum depth: 648.342196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.503510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347653; longitude = 120.251816; duration = 409; initialDepth = 596.953320; finalDepth = 596.503510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0959650000001 # Actual altitude: 54.0959650000001 # Commanded vehicle depth: 596.50351 # Seafloor depth: -646.503510 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400618 meters # Minimum depth: 646.953320 meters looking forward 200.000000 meters along route # Maximum depth: 653.368710 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.953320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348025; longitude = 120.252725; duration = 409; initialDepth = 602.995658; finalDepth = 596.953320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.986485 # Actual altitude: 53.986485 # Commanded vehicle depth: 596.95332 # Seafloor depth: -650.939805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400470 meters # Minimum depth: 652.995658 meters looking forward 200.000000 meters along route # Maximum depth: 661.687913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.995658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348397; longitude = 120.253634; duration = 409; initialDepth = 610.987771; finalDepth = 602.995658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.986485 # Actual altitude: 53.986485 # Commanded vehicle depth: 602.995658 # Seafloor depth: -656.875539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400321 meters # Minimum depth: 660.987771 meters looking forward 200.000000 meters along route # Maximum depth: 665.174366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.987771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348769; longitude = 120.254543; duration = 409; initialDepth = 612.958587; finalDepth = 610.987771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.879881 # Actual altitude: 53.879881 # Commanded vehicle depth: 610.987771 # Seafloor depth: -662.194509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400174 meters # Minimum depth: 662.958587 meters looking forward 200.000000 meters along route # Maximum depth: 669.800368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.958587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349141; longitude = 120.255452; duration = 409; initialDepth = 619.283162; finalDepth = 612.958587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.741759 # Actual altitude: 52.741759 # Commanded vehicle depth: 612.958587 # Seafloor depth: -665.700346 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.400025 meters # Minimum depth: 669.283162 meters looking forward 200.000000 meters along route # Maximum depth: 672.998773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.283162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349512; longitude = 120.256361; duration = 409; initialDepth = 619.065385; finalDepth = 619.283162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7156110000001 # Actual altitude: 53.7156110000001 # Commanded vehicle depth: 619.283162 # Seafloor depth: -672.998773 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.399877 meters # Minimum depth: 669.065385 meters looking forward 200.000000 meters along route # Maximum depth: 672.863935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.065385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349884; longitude = 120.257270; duration = 409; initialDepth = 621.383746; finalDepth = 619.065385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7156110000001 # Actual altitude: 53.7156110000001 # Commanded vehicle depth: 619.065385 # Seafloor depth: -669.065385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 102.399729 meters # Minimum depth: 671.383746 meters looking forward 200.000000 meters along route # Maximum depth: 678.569254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.383746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350256; longitude = 120.258180; duration = 409; initialDepth = 628.537324; finalDepth = 621.383746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.923219 # Actual altitude: 53.923219 # Commanded vehicle depth: 621.383746 # Seafloor depth: -675.306965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 119.441946 meters # Minimum depth: 678.537324 meters looking forward 200.000000 meters along route # Maximum depth: 679.768473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.537324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350628; longitude = 120.259089; duration = 477; initialDepth = 627.514933; finalDepth = 628.537324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.923219 # Actual altitude: 53.923219 # Commanded vehicle depth: 628.537324 # Seafloor depth: -678.884364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 85.615440 meters # Minimum depth: 677.514933 meters looking forward 200.000000 meters along route # Maximum depth: 679.768473 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.514933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351062; longitude = 120.260149; duration = 342; # abortOnTimeout = True; initialDepth = 626.325869; finalDepth = 627.514933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.34704 # Actual altitude: 50.34704 # Commanded vehicle depth: 627.514933 # Seafloor depth: -677.560837 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 102.709242 meters # Minimum depth: 676.325869 meters looking forward 200.000000 meters along route # Maximum depth: 677.952168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.325869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351378; longitude = 120.260907; duration = 410; initialDepth = 624.617171; finalDepth = 626.325869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.103162 # Actual altitude: 51.103162 # Commanded vehicle depth: 626.325869 # Seafloor depth: -677.429031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.709090 meters # Minimum depth: 674.617171 meters looking forward 200.000000 meters along route # Maximum depth: 676.325869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.617171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351757; longitude = 120.261816; duration = 410; initialDepth = 622.207118; finalDepth = 624.617171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1328520000001 # Actual altitude: 51.1328520000001 # Commanded vehicle depth: 624.617171 # Seafloor depth: -675.750023 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.708939 meters # Minimum depth: 672.207118 meters looking forward 200.000000 meters along route # Maximum depth: 675.355347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.207118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352135; longitude = 120.262725; duration = 410; initialDepth = 620.271933; finalDepth = 622.207118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1328520000001 # Actual altitude: 51.1328520000001 # Commanded vehicle depth: 622.207118 # Seafloor depth: -673.308596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 102.708788 meters # Minimum depth: 670.271933 meters looking forward 200.000000 meters along route # Maximum depth: 672.468862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.271933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352514; longitude = 120.263634; duration = 410; initialDepth = 612.760823; finalDepth = 620.271933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.186537 # Actual altitude: 51.186537 # Commanded vehicle depth: 620.271933 # Seafloor depth: -671.458470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 119.854420 meters # Minimum depth: 662.760823 meters looking forward 200.000000 meters along route # Maximum depth: 670.469060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.760823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352893; longitude = 120.264543; duration = 479; initialDepth = 609.203990; finalDepth = 612.760823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.847889 # Actual altitude: 54.847889 # Commanded vehicle depth: 612.760823 # Seafloor depth: -667.608712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 170.477089 meters # Minimum depth: 659.203990 meters looking forward 200.000000 meters along route # Maximum depth: 662.760823 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.203990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353335; longitude = 120.265604; duration = 681; # abortOnTimeout = True; initialDepth = 609.054230; finalDepth = 609.203990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.847889 # Actual altitude: 54.847889 # Commanded vehicle depth: 609.20399 # Seafloor depth: -661.630630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 102.319375 meters # Minimum depth: 659.054230 meters looking forward 200.000000 meters along route # Maximum depth: 659.778090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.054230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354092; longitude = 120.267043; duration = 409; initialDepth = 608.574074; finalDepth = 609.054230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.42664 # Actual altitude: 52.42664 # Commanded vehicle depth: 609.05423 # Seafloor depth: -659.130990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 102.319199 meters # Minimum depth: 658.574074 meters looking forward 200.000000 meters along route # Maximum depth: 659.164560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.574074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354547; longitude = 120.267907; duration = 409; initialDepth = 608.317054; finalDepth = 608.574074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.588454 # Actual altitude: 50.588454 # Commanded vehicle depth: 608.574074 # Seafloor depth: -659.162528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 102.319025 meters # Minimum depth: 658.317054 meters looking forward 200.000000 meters along route # Maximum depth: 658.930695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.317054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355001; longitude = 120.268770; duration = 409; initialDepth = 608.317054; finalDepth = 608.317054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.588454 # Actual altitude: 50.588454 # Commanded vehicle depth: 608.317054 # Seafloor depth: -658.600503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 102.318849 meters # Minimum depth: 658.317054 meters looking forward 200.000000 meters along route # Maximum depth: 660.181041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.317054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355456; longitude = 120.269634; duration = 409; initialDepth = 609.179129; finalDepth = 608.317054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.536099 # Actual altitude: 50.536099 # Commanded vehicle depth: 608.317054 # Seafloor depth: -658.853153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 102.318674 meters # Minimum depth: 659.179129 meters looking forward 200.000000 meters along route # Maximum depth: 660.843804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.179129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355911; longitude = 120.270498; duration = 409; initialDepth = 610.469793; finalDepth = 609.179129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0752210000001 # Actual altitude: 51.0752210000001 # Commanded vehicle depth: 609.179129 # Seafloor depth: -660.254350 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 107.661643 meters # Minimum depth: 660.469793 meters looking forward 200.000000 meters along route # Maximum depth: 661.214444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.469793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356365; longitude = 120.271362; duration = 430; initialDepth = 610.547472; finalDepth = 610.469793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0752210000001 # Actual altitude: 51.0752210000001 # Commanded vehicle depth: 610.469793 # Seafloor depth: -660.843651 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 107.694131 meters # Minimum depth: 660.547472 meters looking forward 200.000000 meters along route # Maximum depth: 662.397147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.547472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356843; longitude = 120.272270; duration = 430; initialDepth = 611.734356; finalDepth = 610.547472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.723396 # Actual altitude: 50.723396 # Commanded vehicle depth: 610.547472 # Seafloor depth: -661.270868 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 107.693936 meters # Minimum depth: 661.734356 meters looking forward 200.000000 meters along route # Maximum depth: 662.975968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.734356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357322; longitude = 120.273180; duration = 430; initialDepth = 612.268252; finalDepth = 611.734356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.783726 # Actual altitude: 50.783726 # Commanded vehicle depth: 611.734356 # Seafloor depth: -662.518082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 107.693743 meters # Minimum depth: 662.268252 meters looking forward 200.000000 meters along route # Maximum depth: 662.975968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.268252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357800; longitude = 120.274089; duration = 430; initialDepth = 607.753344; finalDepth = 612.268252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.783726 # Actual altitude: 50.783726 # Commanded vehicle depth: 612.268252 # Seafloor depth: -662.665102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 107.693549 meters # Minimum depth: 657.753344 meters looking forward 200.000000 meters along route # Maximum depth: 662.333275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.753344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358279; longitude = 120.274998; duration = 430; initialDepth = 603.682003; finalDepth = 607.753344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.888564 # Actual altitude: 53.888564 # Commanded vehicle depth: 607.753344 # Seafloor depth: -661.641908 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 143.603572 meters # Minimum depth: 653.682003 meters looking forward 200.000000 meters along route # Maximum depth: 659.262660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.682003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358757; longitude = 120.275907; duration = 574; initialDepth = 599.951232; finalDepth = 603.682003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.888564 # Actual altitude: 53.888564 # Commanded vehicle depth: 603.682003 # Seafloor depth: -656.783578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 215.224761 meters # Minimum depth: 649.951232 meters looking forward 200.000000 meters along route # Maximum depth: 653.490646 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.951232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359395; longitude = 120.277119; duration = 860; # abortOnTimeout = True; initialDepth = 596.110340; finalDepth = 599.951232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.539414 # Actual altitude: 53.539414 # Commanded vehicle depth: 599.951232 # Seafloor depth: -653.490646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 59 # Segment length 149.009422 meters # Minimum depth: 646.110340 meters looking forward 200.000000 meters along route # Maximum depth: 651.257803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.110340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360038; longitude = 120.279089; duration = 596; initialDepth = 592.838567; finalDepth = 596.110340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.539414 # Actual altitude: 53.539414 # Commanded vehicle depth: 596.11034 # Seafloor depth: -649.558323 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.009175 meters # Minimum depth: 642.838567 meters looking forward 200.000000 meters along route # Maximum depth: 647.063226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.838567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360484; longitude = 120.280452; duration = 596; initialDepth = 590.916401; finalDepth = 592.838567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.447983 # Actual altitude: 53.447983 # Commanded vehicle depth: 592.838567 # Seafloor depth: -645.894136 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 145.942627 meters # Minimum depth: 640.916401 meters looking forward 200.000000 meters along route # Maximum depth: 643.668316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.916401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360929; longitude = 120.281816; duration = 583; initialDepth = 589.224615; finalDepth = 590.916401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.055569 # Actual altitude: 53.055569 # Commanded vehicle depth: 590.916401 # Seafloor depth: -642.720133 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 102.405448 meters # Minimum depth: 639.224615 meters looking forward 200.000000 meters along route # Maximum depth: 641.749586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 589.224615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361365; longitude = 120.283151; duration = 409; initialDepth = 588.812309; finalDepth = 589.224615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8037320000001 # Actual altitude: 51.8037320000001 # Commanded vehicle depth: 589.224615 # Seafloor depth: -640.178721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.008515 meters # Minimum depth: 638.812309 meters looking forward 200.000000 meters along route # Maximum depth: 639.426575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.812309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361671; longitude = 120.284089; duration = 596; initialDepth = 588.355779; finalDepth = 588.812309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.954106 # Actual altitude: 50.954106 # Commanded vehicle depth: 588.812309 # Seafloor depth: -638.812309 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.008268 meters # Minimum depth: 638.355779 meters looking forward 200.000000 meters along route # Maximum depth: 639.426575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.355779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362116; longitude = 120.285452; duration = 596; initialDepth = 585.440530; finalDepth = 588.355779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.046814 # Actual altitude: 51.046814 # Commanded vehicle depth: 588.355779 # Seafloor depth: -639.402593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.008021 meters # Minimum depth: 635.440530 meters looking forward 200.000000 meters along route # Maximum depth: 638.355779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.440530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362562; longitude = 120.286816; duration = 596; initialDepth = 581.810770; finalDepth = 585.440530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.112464 # Actual altitude: 52.112464 # Commanded vehicle depth: 585.44053 # Seafloor depth: -637.552994 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.007774 meters # Minimum depth: 631.810770 meters looking forward 200.000000 meters along route # Maximum depth: 635.440530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.810770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363007; longitude = 120.288179; duration = 596; initialDepth = 578.067712; finalDepth = 581.810770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.917703 # Actual altitude: 52.917703 # Commanded vehicle depth: 581.81077 # Seafloor depth: -634.728473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 149.007527 meters # Minimum depth: 628.067712 meters looking forward 200.000000 meters along route # Maximum depth: 631.810770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.067712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363452; longitude = 120.289543; duration = 596; initialDepth = 574.731769; finalDepth = 578.067712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.917703 # Actual altitude: 52.917703 # Commanded vehicle depth: 578.067712 # Seafloor depth: -630.596967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 115.854751 meters # Minimum depth: 624.731769 meters looking forward 200.000000 meters along route # Maximum depth: 628.067712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.731769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363898; longitude = 120.290907; duration = 463; initialDepth = 571.864914; finalDepth = 574.731769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.5292549999999 # Actual altitude: 52.5292549999999 # Commanded vehicle depth: 574.731769 # Seafloor depth: -627.051458 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 136.864029 meters # Minimum depth: 621.864914 meters looking forward 200.000000 meters along route # Maximum depth: 625.966265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.864914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364244; longitude = 120.291967; duration = 547; # abortOnTimeout = True; initialDepth = 565.918899; finalDepth = 571.864914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.319689 # Actual altitude: 52.319689 # Commanded vehicle depth: 571.864914 # Seafloor depth: -623.723007 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 102.616995 meters # Minimum depth: 615.918899 meters looking forward 200.000000 meters along route # Maximum depth: 622.023239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.918899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364747; longitude = 120.293179; duration = 410; initialDepth = 563.266186; finalDepth = 565.918899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.316751 # Actual altitude: 53.316751 # Commanded vehicle depth: 565.918899 # Seafloor depth: -619.235650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616846 meters # Minimum depth: 613.266186 meters looking forward 200.000000 meters along route # Maximum depth: 616.589168 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.266186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365124; longitude = 120.294089; duration = 410; initialDepth = 560.102390; finalDepth = 563.266186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.316751 # Actual altitude: 53.316751 # Commanded vehicle depth: 563.266186 # Seafloor depth: -614.607081 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616695 meters # Minimum depth: 610.102390 meters looking forward 200.000000 meters along route # Maximum depth: 613.988563 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.102390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365500; longitude = 120.294998; duration = 410; initialDepth = 555.799837; finalDepth = 560.102390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.563883 # Actual altitude: 52.563883 # Commanded vehicle depth: 560.10239 # Seafloor depth: -612.666273 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616546 meters # Minimum depth: 605.799837 meters looking forward 200.000000 meters along route # Maximum depth: 610.102390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.799837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365877; longitude = 120.295907; duration = 410; initialDepth = 554.884181; finalDepth = 555.799837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.563883 # Actual altitude: 52.563883 # Commanded vehicle depth: 555.799837 # Seafloor depth: -608.173903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616396 meters # Minimum depth: 604.884181 meters looking forward 200.000000 meters along route # Maximum depth: 607.929747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.884181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366254; longitude = 120.296816; duration = 410; initialDepth = 552.575547; finalDepth = 554.884181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374066 # Actual altitude: 52.374066 # Commanded vehicle depth: 554.884181 # Seafloor depth: -605.018819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616246 meters # Minimum depth: 602.575547 meters looking forward 200.000000 meters along route # Maximum depth: 605.126442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.575547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366631; longitude = 120.297725; duration = 410; initialDepth = 548.187477; finalDepth = 552.575547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6642429999999 # Actual altitude: 51.6642429999999 # Commanded vehicle depth: 552.575547 # Seafloor depth: -604.239790 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.616097 meters # Minimum depth: 598.187477 meters looking forward 200.000000 meters along route # Maximum depth: 602.576708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.187477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367008; longitude = 120.298634; duration = 410; initialDepth = 546.905365; finalDepth = 548.187477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6642429999999 # Actual altitude: 51.6642429999999 # Commanded vehicle depth: 548.187477 # Seafloor depth: -599.486937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.615947 meters # Minimum depth: 596.905365 meters looking forward 200.000000 meters along route # Maximum depth: 598.204023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.905365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367385; longitude = 120.299543; duration = 410; initialDepth = 544.452622; finalDepth = 546.905365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2994600000001 # Actual altitude: 51.2994600000001 # Commanded vehicle depth: 546.905365 # Seafloor depth: -597.617272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.615797 meters # Minimum depth: 594.452622 meters looking forward 200.000000 meters along route # Maximum depth: 597.193126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.452622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367762; longitude = 120.300452; duration = 410; initialDepth = 540.674894; finalDepth = 544.452622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2551609999999 # Actual altitude: 52.2551609999999 # Commanded vehicle depth: 544.452622 # Seafloor depth: -596.707783 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.615648 meters # Minimum depth: 590.674894 meters looking forward 200.000000 meters along route # Maximum depth: 594.452622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.674894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368139; longitude = 120.301361; duration = 410; initialDepth = 539.901220; finalDepth = 540.674894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2551609999999 # Actual altitude: 52.2551609999999 # Commanded vehicle depth: 540.674894 # Seafloor depth: -592.411548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 102.615497 meters # Minimum depth: 589.901220 meters looking forward 200.000000 meters along route # Maximum depth: 592.128782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.901220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368515; longitude = 120.302270; duration = 410; initialDepth = 538.330033; finalDepth = 539.901220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.736654 # Actual altitude: 51.736654 # Commanded vehicle depth: 539.90122 # Seafloor depth: -590.018381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 136.866236 meters # Minimum depth: 588.330033 meters looking forward 200.000000 meters along route # Maximum depth: 590.629241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.330033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368892; longitude = 120.303179; duration = 547; initialDepth = 535.284096; finalDepth = 538.330033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.694385 # Actual altitude: 51.694385 # Commanded vehicle depth: 538.330033 # Seafloor depth: -590.024418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 57 # Segment length 134.759460 meters # Minimum depth: 585.284096 meters looking forward 200.000000 meters along route # Maximum depth: 588.491196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.284096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369395; longitude = 120.304392; duration = 539; # abortOnTimeout = True; initialDepth = 531.838362; finalDepth = 535.284096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2071 # Actual altitude: 53.2071 # Commanded vehicle depth: 535.284096 # Seafloor depth: -588.491196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 101.012268 meters # Minimum depth: 581.838362 meters looking forward 200.000000 meters along route # Maximum depth: 586.243085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.838362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370001; longitude = 120.305525; duration = 404; initialDepth = 530.693338; finalDepth = 531.838362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2071 # Actual altitude: 53.2071 # Commanded vehicle depth: 531.838362 # Seafloor depth: -585.035739 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.012096 meters # Minimum depth: 580.693338 meters looking forward 200.000000 meters along route # Maximum depth: 582.599774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.693338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370456; longitude = 120.306374; duration = 404; initialDepth = 529.721998; finalDepth = 530.693338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1973770000001 # Actual altitude: 53.1973770000001 # Commanded vehicle depth: 530.693338 # Seafloor depth: -581.837196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011925 meters # Minimum depth: 579.721998 meters looking forward 200.000000 meters along route # Maximum depth: 581.110057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.721998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370910; longitude = 120.307223; duration = 404; initialDepth = 529.721998; finalDepth = 529.721998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.388059 # Actual altitude: 51.388059 # Commanded vehicle depth: 529.721998 # Seafloor depth: -581.110057 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011753 meters # Minimum depth: 579.721998 meters looking forward 200.000000 meters along route # Maximum depth: 581.240091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.721998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371365; longitude = 120.308072; duration = 404; initialDepth = 530.373686; finalDepth = 529.721998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.388059 # Actual altitude: 51.388059 # Commanded vehicle depth: 529.721998 # Seafloor depth: -580.411809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011582 meters # Minimum depth: 580.373686 meters looking forward 200.000000 meters along route # Maximum depth: 583.234497 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.373686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371820; longitude = 120.308922; duration = 404; initialDepth = 532.601570; finalDepth = 530.373686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7398509999999 # Actual altitude: 51.7398509999999 # Commanded vehicle depth: 530.373686 # Seafloor depth: -582.113537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011410 meters # Minimum depth: 582.601570 meters looking forward 200.000000 meters along route # Maximum depth: 583.487661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.601570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372274; longitude = 120.309771; duration = 404; initialDepth = 533.317713; finalDepth = 532.601570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7398509999999 # Actual altitude: 51.7398509999999 # Commanded vehicle depth: 532.60157 # Seafloor depth: -583.361580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011239 meters # Minimum depth: 583.317713 meters looking forward 200.000000 meters along route # Maximum depth: 583.778441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.317713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372729; longitude = 120.310620; duration = 404; initialDepth = 533.486934; finalDepth = 533.317713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.76001 # Actual altitude: 50.76001 # Commanded vehicle depth: 533.317713 # Seafloor depth: -583.544482 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 101.011067 meters # Minimum depth: 583.486934 meters looking forward 200.000000 meters along route # Maximum depth: 584.060837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.486934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373183; longitude = 120.311469; duration = 404; initialDepth = 529.662490; finalDepth = 533.486934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3887139999999 # Actual altitude: 50.3887139999999 # Commanded vehicle depth: 533.486934 # Seafloor depth: -583.875648 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 102.442108 meters # Minimum depth: 579.662490 meters looking forward 200.000000 meters along route # Maximum depth: 584.060837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.662490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373638; longitude = 120.312318; duration = 409; initialDepth = 524.366091; finalDepth = 529.662490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0701949999999 # Actual altitude: 54.0701949999999 # Commanded vehicle depth: 529.66249 # Seafloor depth: -583.732685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 108.137901 meters # Minimum depth: 574.366091 meters looking forward 200.000000 meters along route # Maximum depth: 582.185700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.366091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374099; longitude = 120.313179; duration = 432; initialDepth = 511.110600; finalDepth = 524.366091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2234110000001 # Actual altitude: 55.2234110000001 # Commanded vehicle depth: 524.366091 # Seafloor depth: -579.589502 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 126.141722 meters # Minimum depth: 561.110600 meters looking forward 200.000000 meters along route # Maximum depth: 576.734587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.110600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374585; longitude = 120.314089; duration = 504; initialDepth = 503.596585; finalDepth = 511.110600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.050598 # Actual altitude: 63.050598 # Commanded vehicle depth: 511.1106 # Seafloor depth: -574.161198 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 79.032872 meters # Minimum depth: 553.596585 meters looking forward 200.000000 meters along route # Maximum depth: 570.086964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.596585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375153; longitude = 120.315149; duration = 316; # abortOnTimeout = True; initialDepth = 496.496333; finalDepth = 503.596585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.050598 # Actual altitude: 63.050598 # Commanded vehicle depth: 503.596585 # Seafloor depth: -556.347702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 142.427328 meters # Minimum depth: 546.496333 meters looking forward 200.000000 meters along route # Maximum depth: 553.596585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.496333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375261; longitude = 120.315907; duration = 569; initialDepth = 496.615109; finalDepth = 496.496333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.751117 # Actual altitude: 52.751117 # Commanded vehicle depth: 496.496333 # Seafloor depth: -548.861194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 110.427454 meters # Minimum depth: 546.615109 meters looking forward 200.000000 meters along route # Maximum depth: 553.481307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.615109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375456; longitude = 120.317272; duration = 441; initialDepth = 493.033600; finalDepth = 496.615109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.803207 # Actual altitude: 53.803207 # Commanded vehicle depth: 496.615109 # Seafloor depth: -550.418316 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 131.588384 meters # Minimum depth: 543.033600 meters looking forward 200.000000 meters along route # Maximum depth: 553.877505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.033600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375607; longitude = 120.318331; duration = 526; # abortOnTimeout = True; initialDepth = 500.503928; finalDepth = 493.033600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.803207 # Actual altitude: 53.803207 # Commanded vehicle depth: 493.0336 # Seafloor depth: -543.033600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 55 # Segment length 104.517968 meters # Minimum depth: 550.503928 meters looking forward 200.000000 meters along route # Maximum depth: 553.877505 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.503928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375001; longitude = 120.317233; duration = 418; initialDepth = 500.503928; finalDepth = 500.503928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.196351 # Actual altitude: 51.196351 # Commanded vehicle depth: 500.503928 # Seafloor depth: -551.700279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.971042 meters # Minimum depth: 550.503928 meters looking forward 200.000000 meters along route # Maximum depth: 558.886075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.503928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374520; longitude = 120.316361; duration = 435; initialDepth = 505.338736; finalDepth = 500.503928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5891740000001 # Actual altitude: 51.5891740000001 # Commanded vehicle depth: 500.503928 # Seafloor depth: -552.093102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.971243 meters # Minimum depth: 555.338736 meters looking forward 200.000000 meters along route # Maximum depth: 568.078941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 505.338736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374019; longitude = 120.315452; duration = 435; initialDepth = 515.422199; finalDepth = 505.338736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.809983 # Actual altitude: 54.809983 # Commanded vehicle depth: 505.338736 # Seafloor depth: -560.148719 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.971446 meters # Minimum depth: 565.422199 meters looking forward 200.000000 meters along route # Maximum depth: 576.187777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.422199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373517; longitude = 120.314543; duration = 435; initialDepth = 525.302918; finalDepth = 515.422199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4921410000001 # Actual altitude: 55.4921410000001 # Commanded vehicle depth: 515.422199 # Seafloor depth: -570.914340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.971648 meters # Minimum depth: 575.302918 meters looking forward 200.000000 meters along route # Maximum depth: 579.858279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 525.302918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373016; longitude = 120.313634; duration = 435; initialDepth = 529.479972; finalDepth = 525.302918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4921410000001 # Actual altitude: 55.4921410000001 # Commanded vehicle depth: 525.302918 # Seafloor depth: -577.469860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.971850 meters # Minimum depth: 579.479972 meters looking forward 200.000000 meters along route # Maximum depth: 583.401346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.479972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372514; longitude = 120.312725; duration = 435; initialDepth = 533.354770; finalDepth = 529.479972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.403912 # Actual altitude: 52.403912 # Commanded vehicle depth: 529.479972 # Seafloor depth: -581.883884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.972052 meters # Minimum depth: 583.354770 meters looking forward 200.000000 meters along route # Maximum depth: 584.766436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.354770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372013; longitude = 120.311816; duration = 435; initialDepth = 534.491141; finalDepth = 533.354770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.403912 # Actual altitude: 52.403912 # Commanded vehicle depth: 533.35477 # Seafloor depth: -583.736879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.972255 meters # Minimum depth: 584.491141 meters looking forward 200.000000 meters along route # Maximum depth: 585.760085 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.491141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371511; longitude = 120.310907; duration = 435; initialDepth = 535.590617; finalDepth = 534.491141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9642630000001 # Actual altitude: 50.9642630000001 # Commanded vehicle depth: 534.491141 # Seafloor depth: -585.455404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.972456 meters # Minimum depth: 585.590617 meters looking forward 200.000000 meters along route # Maximum depth: 586.994715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 535.590617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371010; longitude = 120.309998; duration = 435; initialDepth = 536.556669; finalDepth = 535.590617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9642630000001 # Actual altitude: 50.9642630000001 # Commanded vehicle depth: 535.590617 # Seafloor depth: -586.250397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 110.143843 meters # Minimum depth: 586.556669 meters looking forward 200.000000 meters along route # Maximum depth: 589.981347 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.556669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370508; longitude = 120.309089; duration = 440; initialDepth = 538.970935; finalDepth = 536.556669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.397608 # Actual altitude: 51.397608 # Commanded vehicle depth: 536.556669 # Seafloor depth: -587.954277 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 107.801677 meters # Minimum depth: 588.970935 meters looking forward 200.000000 meters along route # Maximum depth: 590.521891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.970935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370001; longitude = 120.308170; duration = 431; initialDepth = 540.260475; finalDepth = 538.970935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.397608 # Actual altitude: 51.397608 # Commanded vehicle depth: 538.970935 # Seafloor depth: -589.986027 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 108.973063 meters # Minimum depth: 590.260475 meters looking forward 200.000000 meters along route # Maximum depth: 593.361959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 540.260475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369505; longitude = 120.307270; duration = 435; initialDepth = 541.996165; finalDepth = 540.260475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.015092 # Actual altitude: 51.015092 # Commanded vehicle depth: 540.260475 # Seafloor depth: -590.632778 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 145.318013 meters # Minimum depth: 591.996165 meters looking forward 200.000000 meters along route # Maximum depth: 595.383918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.996165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369004; longitude = 120.306361; duration = 581; initialDepth = 545.022216; finalDepth = 541.996165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.656303 # Actual altitude: 51.656303 # Commanded vehicle depth: 541.996165 # Seafloor depth: -593.652468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 121.173257 meters # Minimum depth: 595.022216 meters looking forward 200.000000 meters along route # Maximum depth: 596.859324 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 545.022216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368335; longitude = 120.305149; duration = 484; # abortOnTimeout = True; initialDepth = 546.455862; finalDepth = 545.022216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.656303 # Actual altitude: 51.656303 # Commanded vehicle depth: 545.022216 # Seafloor depth: -595.639404 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 103.879539 meters # Minimum depth: 596.455862 meters looking forward 200.000000 meters along route # Maximum depth: 598.984932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.455862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367864; longitude = 120.304089; duration = 415; initialDepth = 548.657814; finalDepth = 546.455862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4993979999999 # Actual altitude: 51.4993979999999 # Commanded vehicle depth: 546.455862 # Seafloor depth: -597.955260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.879701 meters # Minimum depth: 598.657814 meters looking forward 200.000000 meters along route # Maximum depth: 600.237154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.657814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367460; longitude = 120.303179; duration = 415; initialDepth = 550.196412; finalDepth = 548.657814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4993979999999 # Actual altitude: 51.4993979999999 # Commanded vehicle depth: 548.657814 # Seafloor depth: -599.743990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.879863 meters # Minimum depth: 600.196412 meters looking forward 200.000000 meters along route # Maximum depth: 600.765955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.196412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367056; longitude = 120.302270; duration = 415; initialDepth = 550.574433; finalDepth = 550.196412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.086176 # Actual altitude: 51.086176 # Commanded vehicle depth: 550.196412 # Seafloor depth: -600.403609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880025 meters # Minimum depth: 600.574433 meters looking forward 200.000000 meters along route # Maximum depth: 604.568367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.574433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366651; longitude = 120.301361; duration = 415; initialDepth = 553.796212; finalDepth = 550.574433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.178738 # Actual altitude: 51.178738 # Commanded vehicle depth: 550.574433 # Seafloor depth: -601.753171 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880188 meters # Minimum depth: 603.796212 meters looking forward 200.000000 meters along route # Maximum depth: 606.951755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.796212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366247; longitude = 120.300452; duration = 415; initialDepth = 556.541388; finalDepth = 553.796212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7746550000001 # Actual altitude: 51.7746550000001 # Commanded vehicle depth: 553.796212 # Seafloor depth: -605.570867 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880349 meters # Minimum depth: 606.541388 meters looking forward 200.000000 meters along route # Maximum depth: 607.534678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.541388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365843; longitude = 120.299543; duration = 415; initialDepth = 557.006080; finalDepth = 556.541388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7746550000001 # Actual altitude: 51.7746550000001 # Commanded vehicle depth: 556.541388 # Seafloor depth: -606.970091 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880512 meters # Minimum depth: 607.006080 meters looking forward 200.000000 meters along route # Maximum depth: 608.511537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.006080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365439; longitude = 120.298634; duration = 415; initialDepth = 558.511537; finalDepth = 557.006080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.56592 # Actual altitude: 50.56592 # Commanded vehicle depth: 557.00608 # Seafloor depth: -607.572000 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880674 meters # Minimum depth: 608.511537 meters looking forward 200.000000 meters along route # Maximum depth: 611.352737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.511537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365035; longitude = 120.297725; duration = 415; initialDepth = 560.019864; finalDepth = 558.511537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.249323 # Actual altitude: 51.249323 # Commanded vehicle depth: 558.511537 # Seafloor depth: -609.760860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880836 meters # Minimum depth: 610.019864 meters looking forward 200.000000 meters along route # Maximum depth: 614.024004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 560.019864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364631; longitude = 120.296816; duration = 415; initialDepth = 563.426183; finalDepth = 560.019864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.902541 # Actual altitude: 52.902541 # Commanded vehicle depth: 560.019864 # Seafloor depth: -612.922405 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.880999 meters # Minimum depth: 613.426183 meters looking forward 200.000000 meters along route # Maximum depth: 616.666142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.426183 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364227; longitude = 120.295907; duration = 415; initialDepth = 566.484232; finalDepth = 563.426183; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.902541 # Actual altitude: 52.902541 # Commanded vehicle depth: 563.426183 # Seafloor depth: -615.344666 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 103.881161 meters # Minimum depth: 616.484232 meters looking forward 200.000000 meters along route # Maximum depth: 618.404743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.484232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363823; longitude = 120.294998; duration = 415; initialDepth = 568.303218; finalDepth = 566.484232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9184829999999 # Actual altitude: 51.9184829999999 # Commanded vehicle depth: 566.484232 # Seafloor depth: -617.054702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 138.560392 meters # Minimum depth: 618.303218 meters looking forward 200.000000 meters along route # Maximum depth: 623.933153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.303218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363419; longitude = 120.294089; duration = 554; initialDepth = 573.139097; finalDepth = 568.303218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.275083 # Actual altitude: 52.275083 # Commanded vehicle depth: 568.303218 # Seafloor depth: -620.578301 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 53 # Segment length 114.957894 meters # Minimum depth: 623.139097 meters looking forward 200.000000 meters along route # Maximum depth: 625.311090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 573.139097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362880; longitude = 120.292876; duration = 459; # abortOnTimeout = True; initialDepth = 575.311090; finalDepth = 573.139097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.275083 # Actual altitude: 52.275083 # Commanded vehicle depth: 573.139097 # Seafloor depth: -624.257462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 53 # Segment length 147.866555 meters # Minimum depth: 625.311090 meters looking forward 200.000000 meters along route # Maximum depth: 628.158048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.311090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362559; longitude = 120.291816; duration = 591; initialDepth = 578.080781; finalDepth = 575.311090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.118365 # Actual altitude: 51.118365 # Commanded vehicle depth: 575.31109 # Seafloor depth: -626.097557 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.866776 meters # Minimum depth: 628.080781 meters looking forward 200.000000 meters along route # Maximum depth: 631.065903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 578.080781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362146; longitude = 120.290452; duration = 591; initialDepth = 580.725689; finalDepth = 578.080781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.073336 # Actual altitude: 51.073336 # Commanded vehicle depth: 578.080781 # Seafloor depth: -629.154117 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.866997 meters # Minimum depth: 630.725689 meters looking forward 200.000000 meters along route # Maximum depth: 634.144732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.725689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361732; longitude = 120.289089; duration = 591; initialDepth = 583.564415; finalDepth = 580.725689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.073336 # Actual altitude: 51.073336 # Commanded vehicle depth: 580.725689 # Seafloor depth: -631.702747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 146.273201 meters # Minimum depth: 633.564415 meters looking forward 200.000000 meters along route # Maximum depth: 636.394686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.564415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361319; longitude = 120.287725; duration = 585; initialDepth = 585.531647; finalDepth = 583.564415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9770580000001 # Actual altitude: 50.9770580000001 # Commanded vehicle depth: 583.564415 # Seafloor depth: -634.419746 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.172285 meters # Minimum depth: 635.531647 meters looking forward 200.000000 meters along route # Maximum depth: 636.598768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 585.531647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360911; longitude = 120.286376; duration = 400; initialDepth = 586.572529; finalDepth = 585.531647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.061379 # Actual altitude: 51.061379 # Commanded vehicle depth: 585.531647 # Seafloor depth: -636.593026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.867587 meters # Minimum depth: 636.572529 meters looking forward 200.000000 meters along route # Maximum depth: 638.201935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.572529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360631; longitude = 120.285452; duration = 591; initialDepth = 588.201935; finalDepth = 586.572529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.061379 # Actual altitude: 51.061379 # Commanded vehicle depth: 586.572529 # Seafloor depth: -636.919716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.867808 meters # Minimum depth: 638.201935 meters looking forward 200.000000 meters along route # Maximum depth: 641.150156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.201935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360217; longitude = 120.284089; duration = 591; initialDepth = 591.150156; finalDepth = 588.201935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8576849999999 # Actual altitude: 50.8576849999999 # Commanded vehicle depth: 588.201935 # Seafloor depth: -639.059620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.868029 meters # Minimum depth: 641.150156 meters looking forward 200.000000 meters along route # Maximum depth: 643.983832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 591.150156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359804; longitude = 120.282725; duration = 591; initialDepth = 593.983832; finalDepth = 591.150156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8576849999999 # Actual altitude: 50.8576849999999 # Commanded vehicle depth: 591.150156 # Seafloor depth: -641.992618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 147.868250 meters # Minimum depth: 643.983832 meters looking forward 200.000000 meters along route # Maximum depth: 647.955547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 593.983832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359391; longitude = 120.281361; duration = 591; initialDepth = 597.801230; finalDepth = 593.983832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.278058 # Actual altitude: 51.278058 # Commanded vehicle depth: 593.983832 # Seafloor depth: -645.261890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 121.711016 meters # Minimum depth: 647.801230 meters looking forward 200.000000 meters along route # Maximum depth: 650.914978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.801230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358978; longitude = 120.279998; duration = 486; initialDepth = 599.529261; finalDepth = 597.801230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.278058 # Actual altitude: 51.278058 # Commanded vehicle depth: 597.80123 # Seafloor depth: -648.620509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 108.357632 meters # Minimum depth: 649.529261 meters looking forward 200.000000 meters along route # Maximum depth: 654.477194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.529261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358638; longitude = 120.278875; duration = 433; initialDepth = 604.053464; finalDepth = 599.529261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.3584969999999 # Actual altitude: 52.3584969999999 # Commanded vehicle depth: 599.529261 # Seafloor depth: -651.887758 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 52 # Segment length 135.275550 meters # Minimum depth: 654.053464 meters looking forward 200.000000 meters along route # Maximum depth: 655.349839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.053464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358335; longitude = 120.277876; duration = 541; # abortOnTimeout = True; initialDepth = 604.053464; finalDepth = 604.053464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3584969999999 # Actual altitude: 52.3584969999999 # Commanded vehicle depth: 604.053464 # Seafloor depth: -655.083679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 52 # Segment length 101.414687 meters # Minimum depth: 654.053464 meters looking forward 200.000000 meters along route # Maximum depth: 670.362691 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.053464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357729; longitude = 120.276737; duration = 405; initialDepth = 611.305319; finalDepth = 604.053464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.030215 # Actual altitude: 51.030215 # Commanded vehicle depth: 604.053464 # Seafloor depth: -654.927709 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.414859 meters # Minimum depth: 661.305319 meters looking forward 200.000000 meters along route # Maximum depth: 670.386364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.305319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357274; longitude = 120.275884; duration = 405; initialDepth = 614.532610; finalDepth = 611.305319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0810449999999 # Actual altitude: 59.0810449999999 # Commanded vehicle depth: 611.305319 # Seafloor depth: -670.386364 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415033 meters # Minimum depth: 664.532610 meters looking forward 200.000000 meters along route # Maximum depth: 668.851640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.532610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356820; longitude = 120.275030; duration = 405; initialDepth = 613.445497; finalDepth = 614.532610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0810449999999 # Actual altitude: 59.0810449999999 # Commanded vehicle depth: 614.53261 # Seafloor depth: -666.245734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415206 meters # Minimum depth: 663.445497 meters looking forward 200.000000 meters along route # Maximum depth: 666.070008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 613.445497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356365; longitude = 120.274176; duration = 405; initialDepth = 612.807972; finalDepth = 613.445497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.713124 # Actual altitude: 51.713124 # Commanded vehicle depth: 613.445497 # Seafloor depth: -663.959823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415379 meters # Minimum depth: 662.807972 meters looking forward 200.000000 meters along route # Maximum depth: 663.861995 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.807972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355911; longitude = 120.273323; duration = 405; initialDepth = 612.802016; finalDepth = 612.807972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.514326 # Actual altitude: 50.514326 # Commanded vehicle depth: 612.807972 # Seafloor depth: -663.034005 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415552 meters # Minimum depth: 662.802016 meters looking forward 200.000000 meters along route # Maximum depth: 663.098133 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.802016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355456; longitude = 120.272469; duration = 405; initialDepth = 612.802016; finalDepth = 612.802016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.226033 # Actual altitude: 50.226033 # Commanded vehicle depth: 612.802016 # Seafloor depth: -662.827343 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415725 meters # Minimum depth: 662.802016 meters looking forward 200.000000 meters along route # Maximum depth: 663.283294 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.802016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355001; longitude = 120.271616; duration = 405; initialDepth = 612.396280; finalDepth = 612.802016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.481278 # Actual altitude: 50.481278 # Commanded vehicle depth: 612.802016 # Seafloor depth: -663.283294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.415898 meters # Minimum depth: 662.396280 meters looking forward 200.000000 meters along route # Maximum depth: 663.170935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.396280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354547; longitude = 120.270762; duration = 405; initialDepth = 612.015051; finalDepth = 612.396280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5906189999999 # Actual altitude: 50.5906189999999 # Commanded vehicle depth: 612.39628 # Seafloor depth: -662.986899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.416071 meters # Minimum depth: 662.015051 meters looking forward 200.000000 meters along route # Maximum depth: 662.757755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.015051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354092; longitude = 120.269908; duration = 405; initialDepth = 612.015051; finalDepth = 612.015051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5906189999999 # Actual altitude: 50.5906189999999 # Commanded vehicle depth: 612.015051 # Seafloor depth: -662.335813 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 103.981751 meters # Minimum depth: 662.015051 meters looking forward 200.000000 meters along route # Maximum depth: 662.964231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.015051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353638; longitude = 120.269055; duration = 415; initialDepth = 612.332500; finalDepth = 612.015051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3207620000001 # Actual altitude: 50.3207620000001 # Commanded vehicle depth: 612.015051 # Seafloor depth: -662.038116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 108.005974 meters # Minimum depth: 662.332500 meters looking forward 200.000000 meters along route # Maximum depth: 663.524929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.332500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353172; longitude = 120.268180; duration = 432; initialDepth = 612.918115; finalDepth = 612.332500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6294810000001 # Actual altitude: 50.6294810000001 # Commanded vehicle depth: 612.3325 # Seafloor depth: -662.961981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 125.985225 meters # Minimum depth: 662.918115 meters looking forward 200.000000 meters along route # Maximum depth: 664.020986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.918115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352688; longitude = 120.267270; duration = 503; initialDepth = 614.016004; finalDepth = 612.918115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.633092 # Actual altitude: 50.633092 # Commanded vehicle depth: 612.918115 # Seafloor depth: -663.551207 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 135.353223 meters # Minimum depth: 664.016004 meters looking forward 200.000000 meters along route # Maximum depth: 666.750071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.016004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352123; longitude = 120.266210; duration = 541; # abortOnTimeout = True; initialDepth = 616.595619; finalDepth = 614.016004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.633092 # Actual altitude: 50.633092 # Commanded vehicle depth: 614.016004 # Seafloor depth: -664.219528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 101.499577 meters # Minimum depth: 666.595619 meters looking forward 200.000000 meters along route # Maximum depth: 672.222508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 616.595619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351655; longitude = 120.264998; duration = 405; initialDepth = 621.597837; finalDepth = 616.595619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.717947 # Actual altitude: 52.717947 # Commanded vehicle depth: 616.595619 # Seafloor depth: -669.313566 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.499715 meters # Minimum depth: 671.597837 meters looking forward 200.000000 meters along route # Maximum depth: 673.074565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.597837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351303; longitude = 120.264089; duration = 405; initialDepth = 623.074565; finalDepth = 621.597837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.717947 # Actual altitude: 52.717947 # Commanded vehicle depth: 621.597837 # Seafloor depth: -672.494860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.499853 meters # Minimum depth: 673.074565 meters looking forward 200.000000 meters along route # Maximum depth: 674.802274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 623.074565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350952; longitude = 120.263180; duration = 405; initialDepth = 624.105946; finalDepth = 623.074565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.897023 # Actual altitude: 50.897023 # Commanded vehicle depth: 623.074565 # Seafloor depth: -673.856833 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.499991 meters # Minimum depth: 674.105946 meters looking forward 200.000000 meters along route # Maximum depth: 676.832149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.105946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350601; longitude = 120.262270; duration = 405; initialDepth = 626.678247; finalDepth = 624.105946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8110829999999 # Actual altitude: 51.8110829999999 # Commanded vehicle depth: 624.105946 # Seafloor depth: -675.917029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.500130 meters # Minimum depth: 676.678247 meters looking forward 200.000000 meters along route # Maximum depth: 677.575150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.678247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350250; longitude = 120.261361; duration = 406; initialDepth = 627.544146; finalDepth = 626.678247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8110829999999 # Actual altitude: 51.8110829999999 # Commanded vehicle depth: 626.678247 # Seafloor depth: -677.441774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.552797 meters # Minimum depth: 677.544146 meters looking forward 200.000000 meters along route # Maximum depth: 681.400185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.544146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349898; longitude = 120.260452; duration = 406; initialDepth = 628.549940; finalDepth = 627.544146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.763527 # Actual altitude: 50.763527 # Commanded vehicle depth: 627.544146 # Seafloor depth: -677.616793 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.447876 meters # Minimum depth: 678.549940 meters looking forward 200.000000 meters along route # Maximum depth: 685.391792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 628.549940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349547; longitude = 120.259543; duration = 405; initialDepth = 635.391792; finalDepth = 628.549940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.85445 # Actual altitude: 52.85445 # Commanded vehicle depth: 628.54994 # Seafloor depth: -681.404390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.500544 meters # Minimum depth: 685.391792 meters looking forward 200.000000 meters along route # Maximum depth: 689.199272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.391792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349196; longitude = 120.258634; duration = 406; initialDepth = 638.856167; finalDepth = 635.391792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.85445 # Actual altitude: 52.85445 # Commanded vehicle depth: 635.391792 # Seafloor depth: -688.141124 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.500681 meters # Minimum depth: 688.856167 meters looking forward 200.000000 meters along route # Maximum depth: 689.537564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.856167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348845; longitude = 120.257725; duration = 406; initialDepth = 639.492285; finalDepth = 638.856167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.749332 # Actual altitude: 52.749332 # Commanded vehicle depth: 638.856167 # Seafloor depth: -689.436982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.500821 meters # Minimum depth: 689.492285 meters looking forward 200.000000 meters along route # Maximum depth: 689.646090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.492285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348493; longitude = 120.256816; duration = 406; initialDepth = 638.891746; finalDepth = 639.492285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5808149999999 # Actual altitude: 50.5808149999999 # Commanded vehicle depth: 639.492285 # Seafloor depth: -689.492328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.500958 meters # Minimum depth: 688.891746 meters looking forward 200.000000 meters along route # Maximum depth: 689.646090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.891746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348142; longitude = 120.255907; duration = 406; initialDepth = 638.503714; finalDepth = 638.891746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.57904 # Actual altitude: 50.57904 # Commanded vehicle depth: 638.891746 # Seafloor depth: -689.470786 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 101.501096 meters # Minimum depth: 688.503714 meters looking forward 200.000000 meters along route # Maximum depth: 688.891746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.503714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347791; longitude = 120.254998; duration = 406; initialDepth = 636.916981; finalDepth = 638.503714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.57904 # Actual altitude: 50.57904 # Commanded vehicle depth: 638.503714 # Seafloor depth: -688.777658 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 51 # Segment length 135.390292 meters # Minimum depth: 686.916981 meters looking forward 200.000000 meters along route # Maximum depth: 688.503714 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 636.916981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347440; longitude = 120.254089; duration = 541; initialDepth = 635.822006; finalDepth = 636.916981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.300661 # Actual altitude: 51.300661 # Commanded vehicle depth: 636.916981 # Seafloor depth: -688.217642 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 75.224841 meters # Minimum depth: 685.822006 meters looking forward 200.000000 meters along route # Maximum depth: 689.821822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.822006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346971; longitude = 120.252876; duration = 300; # abortOnTimeout = True; initialDepth = 635.822006; finalDepth = 635.822006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.300661 # Actual altitude: 51.300661 # Commanded vehicle depth: 635.822006 # Seafloor depth: -685.822006 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 112.929707 meters # Minimum depth: 685.822006 meters looking forward 200.000000 meters along route # Maximum depth: 690.739873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 635.822006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346593; longitude = 120.252270; duration = 451; initialDepth = 640.531906; finalDepth = 635.822006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9522480000001 # Actual altitude: 53.9522480000001 # Commanded vehicle depth: 635.822006 # Seafloor depth: -689.774254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 112.966963 meters # Minimum depth: 690.531906 meters looking forward 200.000000 meters along route # Maximum depth: 693.420800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.531906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346024; longitude = 120.251361; duration = 451; initialDepth = 643.304672; finalDepth = 640.531906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9522480000001 # Actual altitude: 53.9522480000001 # Commanded vehicle depth: 640.531906 # Seafloor depth: -692.372597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 112.893132 meters # Minimum depth: 693.304672 meters looking forward 200.000000 meters along route # Maximum depth: 694.219819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.304672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345456; longitude = 120.250452; duration = 451; initialDepth = 643.822279; finalDepth = 643.304672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.840691 # Actual altitude: 51.840691 # Commanded vehicle depth: 643.304672 # Seafloor depth: -693.421381 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 112.930388 meters # Minimum depth: 693.822279 meters looking forward 200.000000 meters along route # Maximum depth: 694.486696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.822279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344888; longitude = 120.249543; duration = 451; initialDepth = 644.456669; finalDepth = 643.822279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.624733 # Actual altitude: 50.624733 # Commanded vehicle depth: 643.822279 # Seafloor depth: -694.447012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 112.930614 meters # Minimum depth: 694.456669 meters looking forward 200.000000 meters along route # Maximum depth: 696.451318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.456669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344320; longitude = 120.248634; duration = 451; initialDepth = 646.063735; finalDepth = 644.456669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.624733 # Actual altitude: 50.624733 # Commanded vehicle depth: 644.456669 # Seafloor depth: -694.724583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 112.967870 meters # Minimum depth: 696.063735 meters looking forward 200.000000 meters along route # Maximum depth: 701.325546 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.063735 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343752; longitude = 120.247725; duration = 451; initialDepth = 651.196292; finalDepth = 646.063735; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.534304 # Actual altitude: 52.534304 # Commanded vehicle depth: 646.063735 # Seafloor depth: -698.598039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 150.509859 meters # Minimum depth: 701.196292 meters looking forward 200.000000 meters along route # Maximum depth: 701.867626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.196292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343183; longitude = 120.246816; duration = 602; initialDepth = 649.558829; finalDepth = 651.196292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.534304 # Actual altitude: 52.534304 # Commanded vehicle depth: 651.196292 # Seafloor depth: -701.326955 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 117.597473 meters # Minimum depth: 699.558829 meters looking forward 200.000000 meters along route # Maximum depth: 701.867626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.558829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342426; longitude = 120.245604; duration = 470; # abortOnTimeout = True; initialDepth = 651.065944; finalDepth = 649.558829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4619080000001 # Actual altitude: 50.4619080000001 # Commanded vehicle depth: 649.558829 # Seafloor depth: -700.020737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 49 # Segment length 100.766779 meters # Minimum depth: 701.065944 meters looking forward 200.000000 meters along route # Maximum depth: 706.838886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.065944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341365; longitude = 120.245604; duration = 403; initialDepth = 656.672340; finalDepth = 651.065944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9334550000001 # Actual altitude: 53.9334550000001 # Commanded vehicle depth: 651.065944 # Seafloor depth: -704.999399 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.766768 meters # Minimum depth: 706.672340 meters looking forward 200.000000 meters along route # Maximum depth: 707.426728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.672340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340456; longitude = 120.245604; duration = 403; initialDepth = 654.630448; finalDepth = 656.672340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9334550000001 # Actual altitude: 53.9334550000001 # Commanded vehicle depth: 656.67234 # Seafloor depth: -707.426728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 134.329995 meters # Minimum depth: 704.630448 meters looking forward 200.000000 meters along route # Maximum depth: 706.672340 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.630448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339547; longitude = 120.245604; duration = 537; initialDepth = 654.630448; finalDepth = 654.630448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.7543880000001 # Actual altitude: 50.7543880000001 # Commanded vehicle depth: 654.630448 # Seafloor depth: -705.362486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 48 # Segment length 78.303841 meters # Minimum depth: 704.630448 meters looking forward 200.000000 meters along route # Maximum depth: 712.777789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.630448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338335; longitude = 120.245604; duration = 313; # abortOnTimeout = True; initialDepth = 657.224543; finalDepth = 654.630448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.215103 # Actual altitude: 54.215103 # Commanded vehicle depth: 654.630448 # Seafloor depth: -708.845551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 117.411083 meters # Minimum depth: 707.224543 meters looking forward 200.000000 meters along route # Maximum depth: 713.264166 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.224543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337729; longitude = 120.245994; duration = 469; initialDepth = 657.224543; finalDepth = 657.224543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.039623 # Actual altitude: 56.039623 # Commanded vehicle depth: 657.224543 # Seafloor depth: -713.264166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 117.411336 meters # Minimum depth: 707.224543 meters looking forward 200.000000 meters along route # Maximum depth: 712.948955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.224543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336820; longitude = 120.246578; duration = 469; initialDepth = 662.019154; finalDepth = 657.224543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.039623 # Actual altitude: 56.039623 # Commanded vehicle depth: 657.224543 # Seafloor depth: -707.426721 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 117.411586 meters # Minimum depth: 712.019154 meters looking forward 200.000000 meters along route # Maximum depth: 717.630048 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.019154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335911; longitude = 120.247163; duration = 469; initialDepth = 664.373714; finalDepth = 662.019154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.610894 # Actual altitude: 55.610894 # Commanded vehicle depth: 662.019154 # Seafloor depth: -717.630048 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 117.411838 meters # Minimum depth: 714.373714 meters looking forward 200.000000 meters along route # Maximum depth: 717.885350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.373714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335001; longitude = 120.247747; duration = 469; initialDepth = 667.885350; finalDepth = 664.373714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.610894 # Actual altitude: 55.610894 # Commanded vehicle depth: 664.373714 # Seafloor depth: -715.292534 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 152.150272 meters # Minimum depth: 717.885350 meters looking forward 200.000000 meters along route # Maximum depth: 720.123948 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.885350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334092; longitude = 120.248331; duration = 608; initialDepth = 670.106709; finalDepth = 667.885350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9188200000001 # Actual altitude: 50.9188200000001 # Commanded vehicle depth: 667.88535 # Seafloor depth: -718.602367 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 121.829537 meters # Minimum depth: 720.106709 meters looking forward 200.000000 meters along route # Maximum depth: 720.158970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 670.106709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332914; longitude = 120.249089; duration = 487; initialDepth = 667.858556; finalDepth = 670.106709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.7170169999999 # Actual altitude: 50.7170169999999 # Commanded vehicle depth: 670.106709 # Seafloor depth: -720.158970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 107.012425 meters # Minimum depth: 717.858556 meters looking forward 200.000000 meters along route # Maximum depth: 720.158262 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.858556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331971; longitude = 120.249695; duration = 428; # abortOnTimeout = True; initialDepth = 667.423118; finalDepth = 667.858556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.647609 # Actual altitude: 51.647609 # Commanded vehicle depth: 667.858556 # Seafloor depth: -719.506165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 113.709143 meters # Minimum depth: 717.423118 meters looking forward 200.000000 meters along route # Maximum depth: 719.294445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 667.423118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331365; longitude = 120.250503; duration = 454; initialDepth = 666.951747; finalDepth = 667.423118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.647609 # Actual altitude: 51.647609 # Commanded vehicle depth: 667.423118 # Seafloor depth: -717.788693 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 127.125104 meters # Minimum depth: 716.951747 meters looking forward 200.000000 meters along route # Maximum depth: 717.620821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.951747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330721; longitude = 120.251361; duration = 508; initialDepth = 666.293760; finalDepth = 666.951747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3655749999999 # Actual altitude: 50.3655749999999 # Commanded vehicle depth: 666.951747 # Seafloor depth: -717.233731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 133.774343 meters # Minimum depth: 716.293760 meters looking forward 200.000000 meters along route # Maximum depth: 717.217671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.293760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330001; longitude = 120.252321; duration = 535; initialDepth = 665.887730; finalDepth = 666.293760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.923911 # Actual altitude: 50.923911 # Commanded vehicle depth: 666.29376 # Seafloor depth: -717.217671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 46 # Segment length 86.246553 meters # Minimum depth: 715.887730 meters looking forward 200.000000 meters along route # Maximum depth: 716.654478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.887730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329244; longitude = 120.253331; duration = 344; # abortOnTimeout = True; initialDepth = 665.056125; finalDepth = 665.887730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.923911 # Actual altitude: 50.923911 # Commanded vehicle depth: 665.88773 # Seafloor depth: -716.203979 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 103.490676 meters # Minimum depth: 715.056125 meters looking forward 200.000000 meters along route # Maximum depth: 716.203979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.056125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328914; longitude = 120.254089; duration = 413; initialDepth = 665.056125; finalDepth = 665.056125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.521922 # Actual altitude: 50.521922 # Commanded vehicle depth: 665.056125 # Seafloor depth: -715.578047 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 103.490996 meters # Minimum depth: 715.056125 meters looking forward 200.000000 meters along route # Maximum depth: 718.233017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.056125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328519; longitude = 120.254998; duration = 413; initialDepth = 666.258002; finalDepth = 665.056125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.521922 # Actual altitude: 50.521922 # Commanded vehicle depth: 665.056125 # Seafloor depth: -715.113606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 121.832766 meters # Minimum depth: 716.258002 meters looking forward 200.000000 meters along route # Maximum depth: 723.310267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.258002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328124; longitude = 120.255907; duration = 487; initialDepth = 671.971980; finalDepth = 666.258002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.853386 # Actual altitude: 52.853386 # Commanded vehicle depth: 666.258002 # Seafloor depth: -719.111388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 125.697914 meters # Minimum depth: 721.971980 meters looking forward 200.000000 meters along route # Maximum depth: 726.674464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.971980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327658; longitude = 120.256977; duration = 502; # abortOnTimeout = True; initialDepth = 676.674464; finalDepth = 671.971980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.853386 # Actual altitude: 52.853386 # Commanded vehicle depth: 671.97198 # Seafloor depth: -724.034698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 142.539018 meters # Minimum depth: 726.674464 meters looking forward 200.000000 meters along route # Maximum depth: 731.591252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.674464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327843; longitude = 120.258180; duration = 570; initialDepth = 681.591252; finalDepth = 676.674464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.062718 # Actual altitude: 52.062718 # Commanded vehicle depth: 676.674464 # Seafloor depth: -728.501834 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538976 meters # Minimum depth: 731.591252 meters looking forward 200.000000 meters along route # Maximum depth: 732.846781 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.591252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328053; longitude = 120.259543; duration = 570; initialDepth = 682.055488; finalDepth = 681.591252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8273700000001 # Actual altitude: 51.8273700000001 # Commanded vehicle depth: 681.591252 # Seafloor depth: -732.507101 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538935 meters # Minimum depth: 732.055488 meters looking forward 200.000000 meters along route # Maximum depth: 732.919134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.055488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328263; longitude = 120.260907; duration = 570; initialDepth = 680.769703; finalDepth = 682.055488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.915849 # Actual altitude: 50.915849 # Commanded vehicle depth: 682.055488 # Seafloor depth: -732.919134 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538892 meters # Minimum depth: 730.769703 meters looking forward 200.000000 meters along route # Maximum depth: 732.055488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.769703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328473; longitude = 120.262270; duration = 570; initialDepth = 679.869984; finalDepth = 680.769703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.863646 # Actual altitude: 50.863646 # Commanded vehicle depth: 680.769703 # Seafloor depth: -731.597787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538851 meters # Minimum depth: 729.869984 meters looking forward 200.000000 meters along route # Maximum depth: 730.960413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 679.869984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328683; longitude = 120.263634; duration = 570; initialDepth = 680.103340; finalDepth = 679.869984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.828084 # Actual altitude: 50.828084 # Commanded vehicle depth: 679.869984 # Seafloor depth: -730.393898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 135.133199 meters # Minimum depth: 730.103340 meters looking forward 200.000000 meters along route # Maximum depth: 732.041726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.103340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328893; longitude = 120.264998; duration = 540; initialDepth = 678.509896; finalDepth = 680.103340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.855909 # Actual altitude: 50.855909 # Commanded vehicle depth: 680.10334 # Seafloor depth: -730.959249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 102.431459 meters # Minimum depth: 728.509896 meters looking forward 200.000000 meters along route # Maximum depth: 732.041726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.509896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329092; longitude = 120.266290; duration = 409; initialDepth = 676.581463; finalDepth = 678.509896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4000209999999 # Actual altitude: 52.4000209999999 # Commanded vehicle depth: 678.509896 # Seafloor depth: -730.909917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538740 meters # Minimum depth: 726.581463 meters looking forward 200.000000 meters along route # Maximum depth: 728.509896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.581463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329243; longitude = 120.267270; duration = 570; initialDepth = 676.905575; finalDepth = 676.581463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4000209999999 # Actual altitude: 52.4000209999999 # Commanded vehicle depth: 676.581463 # Seafloor depth: -727.012540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 142.538698 meters # Minimum depth: 726.905575 meters looking forward 200.000000 meters along route # Maximum depth: 728.266790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 676.905575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329453; longitude = 120.268634; duration = 570; initialDepth = 678.266790; finalDepth = 676.905575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.431077 # Actual altitude: 50.431077 # Commanded vehicle depth: 676.905575 # Seafloor depth: -727.325997 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 126.720913 meters # Minimum depth: 728.266790 meters looking forward 200.000000 meters along route # Maximum depth: 731.820913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.266790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329663; longitude = 120.269998; duration = 506; initialDepth = 682.269348; finalDepth = 678.266790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.9483799999999 # Actual altitude: 50.9483799999999 # Commanded vehicle depth: 678.26679 # Seafloor depth: -729.215170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 44 # Segment length 177.381251 meters # Minimum depth: 732.269348 meters looking forward 200.000000 meters along route # Maximum depth: 734.114212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.269348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329850; longitude = 120.271210; duration = 709; # abortOnTimeout = True; initialDepth = 683.714073; finalDepth = 682.269348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9483799999999 # Actual altitude: 50.9483799999999 # Commanded vehicle depth: 682.269348 # Seafloor depth: -732.269348 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 44 # Segment length 106.424745 meters # Minimum depth: 733.714073 meters looking forward 200.000000 meters along route # Maximum depth: 734.114212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.714073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329092; longitude = 120.272725; duration = 425; initialDepth = 683.798168; finalDepth = 683.714073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4001020000001 # Actual altitude: 50.4001020000001 # Commanded vehicle depth: 683.714073 # Seafloor depth: -734.114175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.436242 meters # Minimum depth: 733.798168 meters looking forward 200.000000 meters along route # Maximum depth: 734.592483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.798168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328638; longitude = 120.273634; duration = 425; initialDepth = 683.935521; finalDepth = 683.798168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4001020000001 # Actual altitude: 50.4001020000001 # Commanded vehicle depth: 683.798168 # Seafloor depth: -733.928357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.436593 meters # Minimum depth: 733.935521 meters looking forward 200.000000 meters along route # Maximum depth: 734.962071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.935521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328183; longitude = 120.274543; duration = 425; initialDepth = 683.935521; finalDepth = 683.935521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.656504 # Actual altitude: 50.656504 # Commanded vehicle depth: 683.935521 # Seafloor depth: -734.592025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 106.436942 meters # Minimum depth: 733.935521 meters looking forward 200.000000 meters along route # Maximum depth: 739.689108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 683.935521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327729; longitude = 120.275452; duration = 425; initialDepth = 687.461784; finalDepth = 683.935521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.026836 # Actual altitude: 51.026836 # Commanded vehicle depth: 683.935521 # Seafloor depth: -734.962357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 141.864990 meters # Minimum depth: 737.461784 meters looking forward 200.000000 meters along route # Maximum depth: 739.691130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.461784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327274; longitude = 120.276361; duration = 567; initialDepth = 687.321121; finalDepth = 687.461784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.2293460000001 # Actual altitude: 52.2293460000001 # Commanded vehicle depth: 687.461784 # Seafloor depth: -739.691130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 43 # Segment length 155.433208 meters # Minimum depth: 737.321121 meters looking forward 200.000000 meters along route # Maximum depth: 748.843295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.321121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.326668; longitude = 120.277573; duration = 621; # abortOnTimeout = True; initialDepth = 694.748233; finalDepth = 687.321121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.2293460000001 # Actual altitude: 52.2293460000001 # Commanded vehicle depth: 687.321121 # Seafloor depth: -737.321121 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 177.615553 meters # Minimum depth: 744.748233 meters looking forward 200.000000 meters along route # Maximum depth: 750.544846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.748233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.327880; longitude = 120.278331; duration = 710; # abortOnTimeout = True; initialDepth = 692.540428; finalDepth = 694.748233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.796613 # Actual altitude: 55.796613 # Commanded vehicle depth: 694.748233 # Seafloor depth: -750.544846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 106.569895 meters # Minimum depth: 742.540428 meters looking forward 200.000000 meters along route # Maximum depth: 745.720436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.540428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.328642; longitude = 120.276816; duration = 426; initialDepth = 691.117782; finalDepth = 692.540428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.796613 # Actual altitude: 55.796613 # Commanded vehicle depth: 692.540428 # Seafloor depth: -744.731271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.569543 meters # Minimum depth: 741.117782 meters looking forward 200.000000 meters along route # Maximum depth: 743.591732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.117782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329099; longitude = 120.275907; duration = 426; initialDepth = 689.633947; finalDepth = 691.117782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.190843 # Actual altitude: 52.190843 # Commanded vehicle depth: 691.117782 # Seafloor depth: -742.511147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.569191 meters # Minimum depth: 739.633947 meters looking forward 200.000000 meters along route # Maximum depth: 741.832509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 689.633947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329556; longitude = 120.274998; duration = 426; initialDepth = 688.869141; finalDepth = 689.633947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4494599999999 # Actual altitude: 51.4494599999999 # Commanded vehicle depth: 689.633947 # Seafloor depth: -741.083407 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.568840 meters # Minimum depth: 738.869141 meters looking forward 200.000000 meters along route # Maximum depth: 740.173629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.869141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330013; longitude = 120.274089; duration = 426; initialDepth = 688.448581; finalDepth = 688.869141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4494599999999 # Actual altitude: 51.4494599999999 # Commanded vehicle depth: 688.869141 # Seafloor depth: -739.601769 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.568489 meters # Minimum depth: 738.448581 meters looking forward 200.000000 meters along route # Maximum depth: 739.127269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.448581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330471; longitude = 120.273180; duration = 426; initialDepth = 687.453291; finalDepth = 688.448581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.732628 # Actual altitude: 50.732628 # Commanded vehicle depth: 688.448581 # Seafloor depth: -738.854552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 104.965062 meters # Minimum depth: 737.453291 meters looking forward 200.000000 meters along route # Maximum depth: 738.720716 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 687.453291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330928; longitude = 120.272270; duration = 419; initialDepth = 685.374729; finalDepth = 687.453291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.960825 # Actual altitude: 50.960825 # Commanded vehicle depth: 687.453291 # Seafloor depth: -738.414116 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 191.369127 meters # Minimum depth: 735.374729 meters looking forward 200.000000 meters along route # Maximum depth: 738.331161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.374729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331378; longitude = 120.271375; duration = 765; # abortOnTimeout = True; initialDepth = 682.847990; finalDepth = 685.374729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9564319999999 # Actual altitude: 52.9564319999999 # Commanded vehicle depth: 685.374729 # Seafloor depth: -738.331161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 132.771872 meters # Minimum depth: 732.847990 meters looking forward 200.000000 meters along route # Maximum depth: 735.374729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.847990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331102; longitude = 120.269543; duration = 531; initialDepth = 681.893487; finalDepth = 682.847990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9564319999999 # Actual altitude: 52.9564319999999 # Commanded vehicle depth: 682.84799 # Seafloor depth: -734.486063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.653863 meters # Minimum depth: 731.893487 meters looking forward 200.000000 meters along route # Maximum depth: 733.541802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.893487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330911; longitude = 120.268272; duration = 418; initialDepth = 681.105117; finalDepth = 681.893487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.638073 # Actual altitude: 51.638073 # Commanded vehicle depth: 681.893487 # Seafloor depth: -732.453801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 142.455491 meters # Minimum depth: 731.105117 meters looking forward 200.000000 meters along route # Maximum depth: 731.893487 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.105117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330760; longitude = 120.267270; duration = 569; initialDepth = 681.346161; finalDepth = 681.105117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5603139999999 # Actual altitude: 50.5603139999999 # Commanded vehicle depth: 681.105117 # Seafloor depth: -731.460474 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 142.455528 meters # Minimum depth: 731.346161 meters looking forward 200.000000 meters along route # Maximum depth: 733.518015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.346161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330554; longitude = 120.265907; duration = 569; initialDepth = 681.049556; finalDepth = 681.346161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9262719999999 # Actual altitude: 50.9262719999999 # Commanded vehicle depth: 681.346161 # Seafloor depth: -732.272433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 142.455566 meters # Minimum depth: 731.049556 meters looking forward 200.000000 meters along route # Maximum depth: 733.518015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.049556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330349; longitude = 120.264543; duration = 569; initialDepth = 681.049556; finalDepth = 681.049556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.63317 # Actual altitude: 51.63317 # Commanded vehicle depth: 681.049556 # Seafloor depth: -732.682726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 142.455603 meters # Minimum depth: 731.049556 meters looking forward 200.000000 meters along route # Maximum depth: 732.124793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 681.049556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330143; longitude = 120.263180; duration = 569; initialDepth = 682.117117; finalDepth = 681.049556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.63317 # Actual altitude: 51.63317 # Commanded vehicle depth: 681.049556 # Seafloor depth: -731.411538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 142.455640 meters # Minimum depth: 732.117117 meters looking forward 200.000000 meters along route # Maximum depth: 732.269777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.117117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329938; longitude = 120.261816; duration = 569; initialDepth = 680.611081; finalDepth = 682.117117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3619819999999 # Actual altitude: 50.3619819999999 # Commanded vehicle depth: 682.117117 # Seafloor depth: -732.254196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 128.612977 meters # Minimum depth: 730.611081 meters looking forward 200.000000 meters along route # Maximum depth: 732.269777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.611081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329732; longitude = 120.260452; duration = 514; initialDepth = 675.631694; finalDepth = 680.611081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.485983 # Actual altitude: 51.485983 # Commanded vehicle depth: 680.611081 # Seafloor depth: -732.097064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.813175 meters # Minimum depth: 725.631694 meters looking forward 200.000000 meters along route # Maximum depth: 731.695640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 675.631694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329547; longitude = 120.259221; duration = 435; initialDepth = 669.534607; finalDepth = 675.631694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3665999999999 # Actual altitude: 53.3665999999999 # Commanded vehicle depth: 675.631694 # Seafloor depth: -728.998294 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.910280 meters # Minimum depth: 719.534607 meters looking forward 200.000000 meters along route # Maximum depth: 728.338292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 669.534607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329390; longitude = 120.258180; duration = 407; initialDepth = 666.403629; finalDepth = 669.534607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.5653299999999 # Actual altitude: 53.5653299999999 # Commanded vehicle depth: 669.534607 # Seafloor depth: -723.099937 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 141.689171 meters # Minimum depth: 716.403629 meters looking forward 200.000000 meters along route # Maximum depth: 720.907139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.403629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329243; longitude = 120.257204; duration = 566; # abortOnTimeout = True; initialDepth = 665.615466; finalDepth = 666.403629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5653299999999 # Actual altitude: 53.5653299999999 # Commanded vehicle depth: 666.403629 # Seafloor depth: -718.685089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 113.395501 meters # Minimum depth: 715.615466 meters looking forward 200.000000 meters along route # Maximum depth: 716.628266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.615466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329664; longitude = 120.255907; duration = 453; initialDepth = 665.615466; finalDepth = 665.615466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2814599999999 # Actual altitude: 52.2814599999999 # Commanded vehicle depth: 665.615466 # Seafloor depth: -715.774145 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 101.757317 meters # Minimum depth: 715.615466 meters looking forward 200.000000 meters along route # Maximum depth: 717.450061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.615466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330001; longitude = 120.254869; duration = 407; initialDepth = 665.209514; finalDepth = 665.615466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.0535120000001 # Actual altitude: 51.0535120000001 # Commanded vehicle depth: 665.615466 # Seafloor depth: -716.668978 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 173.410561 meters # Minimum depth: 715.209514 meters looking forward 200.000000 meters along route # Maximum depth: 717.450061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.209514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330304; longitude = 120.253937; duration = 693; # abortOnTimeout = True; initialDepth = 665.209514; finalDepth = 665.209514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.034138 # Actual altitude: 52.034138 # Commanded vehicle depth: 665.209514 # Seafloor depth: -717.243652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 130.068093 meters # Minimum depth: 715.209514 meters looking forward 200.000000 meters along route # Maximum depth: 715.615963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.209514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331388; longitude = 120.252725; duration = 520; initialDepth = 665.336455; finalDepth = 665.209514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.034138 # Actual altitude: 52.034138 # Commanded vehicle depth: 665.209514 # Seafloor depth: -715.212159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 108.434793 meters # Minimum depth: 715.336455 meters looking forward 200.000000 meters along route # Maximum depth: 715.615963 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.336455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332202; longitude = 120.251816; duration = 433; initialDepth = 664.420510; finalDepth = 665.336455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.218124 # Actual altitude: 50.218124 # Commanded vehicle depth: 665.336455 # Seafloor depth: -715.554579 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 109.166931 meters # Minimum depth: 714.420510 meters looking forward 200.000000 meters along route # Maximum depth: 715.381125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.420510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332880; longitude = 120.251058; duration = 436; # abortOnTimeout = True; initialDepth = 664.392357; finalDepth = 664.420510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4691839999999 # Actual altitude: 50.4691839999999 # Commanded vehicle depth: 664.42051 # Seafloor depth: -714.889694 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 116.123829 meters # Minimum depth: 714.392357 meters looking forward 200.000000 meters along route # Maximum depth: 714.909280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.392357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333688; longitude = 120.250452; duration = 464; initialDepth = 662.609788; finalDepth = 664.392357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4691839999999 # Actual altitude: 50.4691839999999 # Commanded vehicle depth: 664.392357 # Seafloor depth: -714.392357 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 129.628619 meters # Minimum depth: 712.609788 meters looking forward 200.000000 meters along route # Maximum depth: 714.499311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.609788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334547; longitude = 120.249808; duration = 518; initialDepth = 662.609788; finalDepth = 662.609788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8895230000001 # Actual altitude: 51.8895230000001 # Commanded vehicle depth: 662.609788 # Seafloor depth: -714.499311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 116.108197 meters # Minimum depth: 712.609788 meters looking forward 200.000000 meters along route # Maximum depth: 713.653200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 662.609788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335506; longitude = 120.249089; duration = 464; initialDepth = 659.101748; finalDepth = 662.609788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8895230000001 # Actual altitude: 51.8895230000001 # Commanded vehicle depth: 662.609788 # Seafloor depth: -712.699268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 129.642950 meters # Minimum depth: 709.101748 meters looking forward 200.000000 meters along route # Maximum depth: 713.431597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.101748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336365; longitude = 120.248444; duration = 518; initialDepth = 659.101748; finalDepth = 659.101748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7320559999999 # Actual altitude: 52.7320559999999 # Commanded vehicle depth: 659.101748 # Seafloor depth: -711.833804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 136.601782 meters # Minimum depth: 709.101748 meters looking forward 200.000000 meters along route # Maximum depth: 711.295661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.101748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337324; longitude = 120.247725; duration = 546; initialDepth = 659.289845; finalDepth = 659.101748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.7320559999999 # Actual altitude: 52.7320559999999 # Commanded vehicle depth: 659.101748 # Seafloor depth: -709.105816 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 84.005181 meters # Minimum depth: 709.289845 meters looking forward 200.000000 meters along route # Maximum depth: 711.295661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.289845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338335; longitude = 120.246967; duration = 336; # abortOnTimeout = True; initialDepth = 660.107668; finalDepth = 659.289845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.671031 # Actual altitude: 51.671031 # Commanded vehicle depth: 659.289845 # Seafloor depth: -710.960876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 100.837068 meters # Minimum depth: 710.107668 meters looking forward 200.000000 meters along route # Maximum depth: 710.960876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.107668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339092; longitude = 120.246997; duration = 403; initialDepth = 660.389469; finalDepth = 660.107668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.671031 # Actual altitude: 51.671031 # Commanded vehicle depth: 660.107668 # Seafloor depth: -710.107668 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 100.837080 meters # Minimum depth: 710.389469 meters looking forward 200.000000 meters along route # Maximum depth: 711.747284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.389469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340001; longitude = 120.247034; duration = 403; initialDepth = 660.497541; finalDepth = 660.389469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.501483 # Actual altitude: 50.501483 # Commanded vehicle depth: 660.389469 # Seafloor depth: -710.890952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 134.489030 meters # Minimum depth: 710.497541 meters looking forward 200.000000 meters along route # Maximum depth: 713.200713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.497541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340911; longitude = 120.247070; duration = 537; initialDepth = 658.857819; finalDepth = 660.497541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.3004950000001 # Actual altitude: 52.3004950000001 # Commanded vehicle depth: 660.497541 # Seafloor depth: -712.798036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 183.336757 meters # Minimum depth: 708.857819 meters looking forward 200.000000 meters along route # Maximum depth: 709.650199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.857819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342123; longitude = 120.247119; duration = 733; # abortOnTimeout = True; initialDepth = 657.574589; finalDepth = 658.857819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3004950000001 # Actual altitude: 52.3004950000001 # Commanded vehicle depth: 658.857819 # Seafloor depth: -708.857819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 110.007204 meters # Minimum depth: 707.574589 meters looking forward 200.000000 meters along route # Maximum depth: 709.650199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.574589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342989; longitude = 120.248634; duration = 440; initialDepth = 653.726974; finalDepth = 657.574589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2600570000001 # Actual altitude: 51.2600570000001 # Commanded vehicle depth: 657.574589 # Seafloor depth: -708.834646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 110.006993 meters # Minimum depth: 703.726974 meters looking forward 200.000000 meters along route # Maximum depth: 708.155061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.726974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343508; longitude = 120.249543; duration = 440; initialDepth = 653.173222; finalDepth = 653.726974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.587733 # Actual altitude: 51.587733 # Commanded vehicle depth: 653.726974 # Seafloor depth: -705.314707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 110.020951 meters # Minimum depth: 703.173222 meters looking forward 200.000000 meters along route # Maximum depth: 704.330548 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.173222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344027; longitude = 120.250452; duration = 440; initialDepth = 651.635087; finalDepth = 653.173222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.587733 # Actual altitude: 51.587733 # Commanded vehicle depth: 653.173222 # Seafloor depth: -703.173222 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 109.992407 meters # Minimum depth: 701.635087 meters looking forward 200.000000 meters along route # Maximum depth: 703.493180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 651.635087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344547; longitude = 120.251361; duration = 439; initialDepth = 649.500007; finalDepth = 651.635087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.792857 # Actual altitude: 51.792857 # Commanded vehicle depth: 651.635087 # Seafloor depth: -703.427944 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 146.728941 meters # Minimum depth: 699.500007 meters looking forward 200.000000 meters along route # Maximum depth: 701.635087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 649.500007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345066; longitude = 120.252270; duration = 586; initialDepth = 647.916851; finalDepth = 649.500007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.864146 # Actual altitude: 51.864146 # Commanded vehicle depth: 649.500007 # Seafloor depth: -701.364153 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 169.568151 meters # Minimum depth: 697.916851 meters looking forward 200.000000 meters along route # Maximum depth: 699.174103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.916851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345759; longitude = 120.253483; duration = 678; # abortOnTimeout = True; initialDepth = 646.258205; finalDepth = 647.916851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.864146 # Actual altitude: 51.864146 # Commanded vehicle depth: 647.916851 # Seafloor depth: -699.174103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 101.770585 meters # Minimum depth: 696.258205 meters looking forward 200.000000 meters along route # Maximum depth: 697.916851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.258205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346355; longitude = 120.254998; duration = 407; initialDepth = 643.607266; finalDepth = 646.258205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.257252 # Actual altitude: 51.257252 # Commanded vehicle depth: 646.258205 # Seafloor depth: -697.274586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.770443 meters # Minimum depth: 693.607266 meters looking forward 200.000000 meters along route # Maximum depth: 696.258205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.607266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346712; longitude = 120.255907; duration = 407; initialDepth = 641.109674; finalDepth = 643.607266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.303026 # Actual altitude: 51.303026 # Commanded vehicle depth: 643.607266 # Seafloor depth: -694.910292 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.770303 meters # Minimum depth: 691.109674 meters looking forward 200.000000 meters along route # Maximum depth: 694.192430 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.109674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347070; longitude = 120.256816; duration = 407; initialDepth = 640.007372; finalDepth = 641.109674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.303026 # Actual altitude: 51.303026 # Commanded vehicle depth: 641.109674 # Seafloor depth: -692.402536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.770161 meters # Minimum depth: 690.007372 meters looking forward 200.000000 meters along route # Maximum depth: 691.195254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.007372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347427; longitude = 120.257725; duration = 407; initialDepth = 638.604305; finalDepth = 640.007372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.292862 # Actual altitude: 51.292862 # Commanded vehicle depth: 640.007372 # Seafloor depth: -690.783233 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.770020 meters # Minimum depth: 688.604305 meters looking forward 200.000000 meters along route # Maximum depth: 690.508822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 638.604305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347785; longitude = 120.258634; duration = 407; initialDepth = 632.565760; finalDepth = 638.604305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1641910000001 # Actual altitude: 51.1641910000001 # Commanded vehicle depth: 638.604305 # Seafloor depth: -689.768496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769879 meters # Minimum depth: 682.565760 meters looking forward 200.000000 meters along route # Maximum depth: 688.604305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 632.565760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348142; longitude = 120.259543; duration = 407; initialDepth = 627.505008; finalDepth = 632.565760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7604650000001 # Actual altitude: 53.7604650000001 # Commanded vehicle depth: 632.56576 # Seafloor depth: -686.326225 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769738 meters # Minimum depth: 677.505008 meters looking forward 200.000000 meters along route # Maximum depth: 685.563850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.505008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348500; longitude = 120.260452; duration = 407; initialDepth = 626.931860; finalDepth = 627.505008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7604650000001 # Actual altitude: 53.7604650000001 # Commanded vehicle depth: 627.505008 # Seafloor depth: -679.069157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769596 meters # Minimum depth: 676.931860 meters looking forward 200.000000 meters along route # Maximum depth: 677.637637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 626.931860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348857; longitude = 120.261361; duration = 407; initialDepth = 624.237380; finalDepth = 626.931860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.564149 # Actual altitude: 51.564149 # Commanded vehicle depth: 626.93186 # Seafloor depth: -677.637637 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769456 meters # Minimum depth: 674.237380 meters looking forward 200.000000 meters along route # Maximum depth: 677.251803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.237380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349215; longitude = 120.262270; duration = 407; initialDepth = 622.964726; finalDepth = 624.237380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9811979999999 # Actual altitude: 51.9811979999999 # Commanded vehicle depth: 624.23738 # Seafloor depth: -676.218578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769314 meters # Minimum depth: 672.964726 meters looking forward 200.000000 meters along route # Maximum depth: 675.187281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 622.964726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349572; longitude = 120.263180; duration = 407; initialDepth = 620.892521; finalDepth = 622.964726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9811979999999 # Actual altitude: 51.9811979999999 # Commanded vehicle depth: 622.964726 # Seafloor depth: -674.070610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769173 meters # Minimum depth: 670.892521 meters looking forward 200.000000 meters along route # Maximum depth: 672.964726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.892521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349930; longitude = 120.264089; duration = 407; initialDepth = 615.734121; finalDepth = 620.892521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.182086 # Actual altitude: 51.182086 # Commanded vehicle depth: 620.892521 # Seafloor depth: -672.074607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 101.769032 meters # Minimum depth: 665.734121 meters looking forward 200.000000 meters along route # Maximum depth: 671.552256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 615.734121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350288; longitude = 120.264998; duration = 407; initialDepth = 608.250652; finalDepth = 615.734121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0500850000001 # Actual altitude: 53.0500850000001 # Commanded vehicle depth: 615.734121 # Seafloor depth: -668.784206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 118.686716 meters # Minimum depth: 658.250652 meters looking forward 200.000000 meters along route # Maximum depth: 665.932621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.250652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350645; longitude = 120.265907; duration = 474; initialDepth = 607.900589; finalDepth = 608.250652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.6092190000001 # Actual altitude: 53.6092190000001 # Commanded vehicle depth: 608.250652 # Seafloor depth: -661.859871 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 170.531194 meters # Minimum depth: 657.900589 meters looking forward 200.000000 meters along route # Maximum depth: 658.833856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.900589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351062; longitude = 120.266967; duration = 682; # abortOnTimeout = True; initialDepth = 607.900589; finalDepth = 607.900589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6092190000001 # Actual altitude: 53.6092190000001 # Commanded vehicle depth: 607.900589 # Seafloor depth: -658.708374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 102.314691 meters # Minimum depth: 657.900589 meters looking forward 200.000000 meters along route # Maximum depth: 658.481245 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.900589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351820; longitude = 120.268406; duration = 409; initialDepth = 608.074110; finalDepth = 607.900589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8077850000001 # Actual altitude: 50.8077850000001 # Commanded vehicle depth: 607.900589 # Seafloor depth: -657.976272 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.314516 meters # Minimum depth: 658.074110 meters looking forward 200.000000 meters along route # Maximum depth: 659.459071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.074110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352274; longitude = 120.269270; duration = 409; initialDepth = 609.051756; finalDepth = 608.074110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.652864 # Actual altitude: 50.652864 # Commanded vehicle depth: 608.07411 # Seafloor depth: -658.726974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.314341 meters # Minimum depth: 659.051756 meters looking forward 200.000000 meters along route # Maximum depth: 660.873320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.051756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352729; longitude = 120.270134; duration = 409; initialDepth = 610.188647; finalDepth = 609.051756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.652864 # Actual altitude: 50.652864 # Commanded vehicle depth: 609.051756 # Seafloor depth: -659.612818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.314166 meters # Minimum depth: 660.188647 meters looking forward 200.000000 meters along route # Maximum depth: 661.376876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.188647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353183; longitude = 120.270997; duration = 409; initialDepth = 610.440382; finalDepth = 610.188647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8476780000001 # Actual altitude: 50.8476780000001 # Commanded vehicle depth: 610.188647 # Seafloor depth: -661.036325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 102.347934 meters # Minimum depth: 660.440382 meters looking forward 200.000000 meters along route # Maximum depth: 661.376876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 610.440382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353638; longitude = 120.271861; duration = 409; initialDepth = 609.835689; finalDepth = 610.440382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.900202 # Actual altitude: 50.900202 # Commanded vehicle depth: 610.440382 # Seafloor depth: -661.340584 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.697813 meters # Minimum depth: 659.835689 meters looking forward 200.000000 meters along route # Maximum depth: 661.292147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.835689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354092; longitude = 120.272725; duration = 430; initialDepth = 609.835689; finalDepth = 609.835689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.900202 # Actual altitude: 50.900202 # Commanded vehicle depth: 609.835689 # Seafloor depth: -660.440239 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.697619 meters # Minimum depth: 659.835689 meters looking forward 200.000000 meters along route # Maximum depth: 663.755571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 609.835689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354571; longitude = 120.273634; duration = 430; initialDepth = 612.104653; finalDepth = 609.835689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.60455 # Actual altitude: 50.60455 # Commanded vehicle depth: 609.835689 # Seafloor depth: -660.414328 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.697425 meters # Minimum depth: 662.104653 meters looking forward 200.000000 meters along route # Maximum depth: 664.442131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.104653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355049; longitude = 120.274543; duration = 430; initialDepth = 614.099147; finalDepth = 612.104653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.834788 # Actual altitude: 51.834788 # Commanded vehicle depth: 612.104653 # Seafloor depth: -663.939441 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.697231 meters # Minimum depth: 664.099147 meters looking forward 200.000000 meters along route # Maximum depth: 665.712531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 614.099147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355528; longitude = 120.275452; duration = 430; initialDepth = 597.743469; finalDepth = 614.099147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.834788 # Actual altitude: 51.834788 # Commanded vehicle depth: 614.099147 # Seafloor depth: -664.618720 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.697037 meters # Minimum depth: 647.743469 meters looking forward 200.000000 meters along route # Maximum depth: 665.712531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.743469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356006; longitude = 120.276361; duration = 430; initialDepth = 597.743469; finalDepth = 597.743469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.42612 # Actual altitude: 66.42612 # Commanded vehicle depth: 597.743469 # Seafloor depth: -664.169589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 143.651467 meters # Minimum depth: 647.743469 meters looking forward 200.000000 meters along route # Maximum depth: 651.993662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.743469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356485; longitude = 120.277270; duration = 574; initialDepth = 601.348148; finalDepth = 597.743469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.42612 # Actual altitude: 66.42612 # Commanded vehicle depth: 597.743469 # Seafloor depth: -648.693265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 114.958884 meters # Minimum depth: 651.348148 meters looking forward 200.000000 meters along route # Maximum depth: 652.433925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 601.348148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357123; longitude = 120.278483; duration = 459; # abortOnTimeout = True; initialDepth = 599.095790; finalDepth = 601.348148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.949796 # Actual altitude: 50.949796 # Commanded vehicle depth: 601.348148 # Seafloor depth: -652.193130 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 147.869658 meters # Minimum depth: 649.095790 meters looking forward 200.000000 meters along route # Maximum depth: 652.217791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.095790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357444; longitude = 120.279543; duration = 591; initialDepth = 594.509688; finalDepth = 599.095790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.036549 # Actual altitude: 52.036549 # Commanded vehicle depth: 599.09579 # Seafloor depth: -651.132339 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.869437 meters # Minimum depth: 644.509688 meters looking forward 200.000000 meters along route # Maximum depth: 649.161424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 594.509688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357857; longitude = 120.280907; duration = 591; initialDepth = 590.637650; finalDepth = 594.509688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.409101 # Actual altitude: 53.409101 # Commanded vehicle depth: 594.509688 # Seafloor depth: -647.918789 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.869215 meters # Minimum depth: 640.637650 meters looking forward 200.000000 meters along route # Maximum depth: 645.182263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 590.637650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358271; longitude = 120.282270; duration = 591; initialDepth = 588.619376; finalDepth = 590.637650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.409101 # Actual altitude: 53.409101 # Commanded vehicle depth: 590.63765 # Seafloor depth: -643.201842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 146.214358 meters # Minimum depth: 638.619376 meters looking forward 200.000000 meters along route # Maximum depth: 640.984977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.619376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358684; longitude = 120.283634; duration = 584; initialDepth = 586.569083; finalDepth = 588.619376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.564192 # Actual altitude: 52.564192 # Commanded vehicle depth: 588.619376 # Seafloor depth: -640.266202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.233843 meters # Minimum depth: 636.569083 meters looking forward 200.000000 meters along route # Maximum depth: 639.232362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 586.569083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359092; longitude = 120.284982; duration = 400; initialDepth = 584.048562; finalDepth = 586.569083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.646826 # Actual altitude: 51.646826 # Commanded vehicle depth: 586.569083 # Seafloor depth: -637.848879 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.868625 meters # Minimum depth: 634.048562 meters looking forward 200.000000 meters along route # Maximum depth: 636.569083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 584.048562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359372; longitude = 120.285907; duration = 591; initialDepth = 583.076929; finalDepth = 584.048562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.539705 # Actual altitude: 51.539705 # Commanded vehicle depth: 584.048562 # Seafloor depth: -635.588267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.868405 meters # Minimum depth: 633.076929 meters looking forward 200.000000 meters along route # Maximum depth: 634.048562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.076929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359786; longitude = 120.287270; duration = 591; initialDepth = 579.345913; finalDepth = 583.076929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.539705 # Actual altitude: 51.539705 # Commanded vehicle depth: 583.076929 # Seafloor depth: -633.560740 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.868183 meters # Minimum depth: 629.345913 meters looking forward 200.000000 meters along route # Maximum depth: 633.076929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.345913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360199; longitude = 120.288634; duration = 591; initialDepth = 575.140675; finalDepth = 579.345913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.751572 # Actual altitude: 52.751572 # Commanded vehicle depth: 579.345913 # Seafloor depth: -632.097485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 147.867963 meters # Minimum depth: 625.140675 meters looking forward 200.000000 meters along route # Maximum depth: 629.345913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 575.140675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360612; longitude = 120.289998; duration = 591; initialDepth = 572.897769; finalDepth = 575.140675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7550170000001 # Actual altitude: 52.7550170000001 # Commanded vehicle depth: 575.140675 # Seafloor depth: -627.895692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 121.649847 meters # Minimum depth: 622.897769 meters looking forward 200.000000 meters along route # Maximum depth: 625.303188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 572.897769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361025; longitude = 120.291361; duration = 486; initialDepth = 568.251393; finalDepth = 572.897769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7550170000001 # Actual altitude: 52.7550170000001 # Commanded vehicle depth: 572.897769 # Seafloor depth: -624.328578 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 108.419202 meters # Minimum depth: 618.251393 meters looking forward 200.000000 meters along route # Maximum depth: 623.697323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.251393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361365; longitude = 120.292483; duration = 433; initialDepth = 565.382472; finalDepth = 568.251393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.730773 # Actual altitude: 53.730773 # Commanded vehicle depth: 568.251393 # Seafloor depth: -621.982166 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 171.950365 meters # Minimum depth: 615.382472 meters looking forward 200.000000 meters along route # Maximum depth: 616.714737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 565.382472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361668; longitude = 120.293483; duration = 687; # abortOnTimeout = True; initialDepth = 563.845659; finalDepth = 565.382472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.730773 # Actual altitude: 53.730773 # Commanded vehicle depth: 565.382472 # Seafloor depth: -616.714737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 103.203089 meters # Minimum depth: 613.845659 meters looking forward 200.000000 meters along route # Maximum depth: 615.756838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.845659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362317; longitude = 120.294998; duration = 412; initialDepth = 559.326164; finalDepth = 563.845659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.332265 # Actual altitude: 51.332265 # Commanded vehicle depth: 563.845659 # Seafloor depth: -615.166252 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202932 meters # Minimum depth: 609.326164 meters looking forward 200.000000 meters along route # Maximum depth: 613.845659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.326164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362707; longitude = 120.295907; duration = 412; initialDepth = 552.936840; finalDepth = 559.326164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.638329 # Actual altitude: 52.638329 # Commanded vehicle depth: 559.326164 # Seafloor depth: -611.964493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202777 meters # Minimum depth: 602.936840 meters looking forward 200.000000 meters along route # Maximum depth: 609.326164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.936840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363097; longitude = 120.296816; duration = 412; initialDepth = 552.589212; finalDepth = 552.936840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.784485 # Actual altitude: 52.784485 # Commanded vehicle depth: 552.93684 # Seafloor depth: -605.721325 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202621 meters # Minimum depth: 602.589212 meters looking forward 200.000000 meters along route # Maximum depth: 604.038543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.589212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363486; longitude = 120.297725; duration = 412; initialDepth = 553.250010; finalDepth = 552.589212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.784485 # Actual altitude: 52.784485 # Commanded vehicle depth: 552.589212 # Seafloor depth: -602.589212 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202465 meters # Minimum depth: 603.250010 meters looking forward 200.000000 meters along route # Maximum depth: 605.843550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.250010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363876; longitude = 120.298634; duration = 412; initialDepth = 555.150918; finalDepth = 553.250010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0035300000001 # Actual altitude: 51.0035300000001 # Commanded vehicle depth: 553.25001 # Seafloor depth: -604.253540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202310 meters # Minimum depth: 605.150918 meters looking forward 200.000000 meters along route # Maximum depth: 605.843550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.150918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364265; longitude = 120.299543; duration = 412; initialDepth = 555.217898; finalDepth = 555.150918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0035300000001 # Actual altitude: 51.0035300000001 # Commanded vehicle depth: 555.150918 # Seafloor depth: -605.150918 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.202154 meters # Minimum depth: 605.217898 meters looking forward 200.000000 meters along route # Maximum depth: 606.314656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 555.217898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364655; longitude = 120.300452; duration = 412; initialDepth = 552.974176; finalDepth = 555.217898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9957000000001 # Actual altitude: 50.9957000000001 # Commanded vehicle depth: 555.217898 # Seafloor depth: -606.213598 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.201999 meters # Minimum depth: 602.974176 meters looking forward 200.000000 meters along route # Maximum depth: 606.314656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 552.974176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365045; longitude = 120.301361; duration = 412; initialDepth = 551.884099; finalDepth = 552.974176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5197479999999 # Actual altitude: 52.5197479999999 # Commanded vehicle depth: 552.974176 # Seafloor depth: -605.493924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.201843 meters # Minimum depth: 601.884099 meters looking forward 200.000000 meters along route # Maximum depth: 602.974176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.884099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365434; longitude = 120.302270; duration = 412; initialDepth = 550.180466; finalDepth = 551.884099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5197479999999 # Actual altitude: 52.5197479999999 # Commanded vehicle depth: 551.884099 # Seafloor depth: -601.995157 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.201687 meters # Minimum depth: 600.180466 meters looking forward 200.000000 meters along route # Maximum depth: 601.884099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.180466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365824; longitude = 120.303179; duration = 412; initialDepth = 546.256229; finalDepth = 550.180466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2823959999999 # Actual altitude: 51.2823959999999 # Commanded vehicle depth: 550.180466 # Seafloor depth: -601.462862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 103.201532 meters # Minimum depth: 596.256229 meters looking forward 200.000000 meters along route # Maximum depth: 600.998962 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 546.256229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366214; longitude = 120.304089; duration = 412; initialDepth = 543.418342; finalDepth = 546.256229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.092834 # Actual altitude: 52.092834 # Commanded vehicle depth: 546.256229 # Seafloor depth: -598.349063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 137.627437 meters # Minimum depth: 593.418342 meters looking forward 200.000000 meters along route # Maximum depth: 596.256229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 543.418342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366603; longitude = 120.304998; duration = 550; initialDepth = 541.633835; finalDepth = 543.418342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.092834 # Actual altitude: 52.092834 # Commanded vehicle depth: 543.418342 # Seafloor depth: -593.877779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 186.348595 meters # Minimum depth: 591.633835 meters looking forward 200.000000 meters along route # Maximum depth: 593.113731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.633835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367123; longitude = 120.306210; duration = 745; # abortOnTimeout = True; initialDepth = 536.904038; finalDepth = 541.633835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.327316 # Actual altitude: 51.327316 # Commanded vehicle depth: 541.633835 # Seafloor depth: -592.961151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 121.502682 meters # Minimum depth: 586.904038 meters looking forward 200.000000 meters along route # Maximum depth: 591.756882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 536.904038 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368040; longitude = 120.307725; duration = 486; initialDepth = 533.994610; finalDepth = 536.904038; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530399 # Actual altitude: 53.530399 # Commanded vehicle depth: 536.904038 # Seafloor depth: -590.434437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 102.148161 meters # Minimum depth: 583.994610 meters looking forward 200.000000 meters along route # Maximum depth: 589.596090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.994610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368638; longitude = 120.308713; duration = 408; initialDepth = 533.136014; finalDepth = 533.994610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.530399 # Actual altitude: 53.530399 # Commanded vehicle depth: 533.99461 # Seafloor depth: -586.557835 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.825092 meters # Minimum depth: 583.136014 meters looking forward 200.000000 meters along route # Maximum depth: 585.213776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 533.136014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369140; longitude = 120.309543; duration = 447; initialDepth = 530.798654; finalDepth = 533.136014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.563225 # Actual altitude: 52.563225 # Commanded vehicle depth: 533.136014 # Seafloor depth: -583.829964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.824873 meters # Minimum depth: 580.798654 meters looking forward 200.000000 meters along route # Maximum depth: 583.544978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.798654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369691; longitude = 120.310452; duration = 447; initialDepth = 528.074054; finalDepth = 530.798654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4587829999999 # Actual altitude: 51.4587829999999 # Commanded vehicle depth: 530.798654 # Seafloor depth: -582.257437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.824653 meters # Minimum depth: 578.074054 meters looking forward 200.000000 meters along route # Maximum depth: 580.906806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.074054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370241; longitude = 120.311361; duration = 447; initialDepth = 523.918438; finalDepth = 528.074054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.848527 # Actual altitude: 51.848527 # Commanded vehicle depth: 528.074054 # Seafloor depth: -579.922581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 116.645145 meters # Minimum depth: 573.918438 meters looking forward 200.000000 meters along route # Maximum depth: 578.539253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 523.918438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370791; longitude = 120.312270; duration = 466; initialDepth = 519.218165; finalDepth = 523.918438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2740289999999 # Actual altitude: 52.2740289999999 # Commanded vehicle depth: 523.918438 # Seafloor depth: -576.192467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 107.003504 meters # Minimum depth: 569.218165 meters looking forward 200.000000 meters along route # Maximum depth: 575.677357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.218165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371365; longitude = 120.313219; duration = 428; initialDepth = 510.638745; finalDepth = 519.218165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.52563 # Actual altitude: 54.52563 # Commanded vehicle depth: 519.218165 # Seafloor depth: -573.743795 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.823995 meters # Minimum depth: 560.638745 meters looking forward 200.000000 meters along route # Maximum depth: 571.973207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.638745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371892; longitude = 120.314089; duration = 447; initialDepth = 507.218715; finalDepth = 510.638745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.671901 # Actual altitude: 57.671901 # Commanded vehicle depth: 510.638745 # Seafloor depth: -568.310646 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.823775 meters # Minimum depth: 557.218715 meters looking forward 200.000000 meters along route # Maximum depth: 562.864638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.218715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372442; longitude = 120.314998; duration = 447; initialDepth = 501.063880; finalDepth = 507.218715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.671901 # Actual altitude: 57.671901 # Commanded vehicle depth: 507.218715 # Seafloor depth: -558.266671 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.823557 meters # Minimum depth: 551.063880 meters looking forward 200.000000 meters along route # Maximum depth: 557.251971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.063880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372992; longitude = 120.315907; duration = 447; initialDepth = 498.079556; finalDepth = 501.063880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.483886 # Actual altitude: 52.483886 # Commanded vehicle depth: 501.06388 # Seafloor depth: -553.547766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.823336 meters # Minimum depth: 548.079556 meters looking forward 200.000000 meters along route # Maximum depth: 551.936016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.079556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373542; longitude = 120.316816; duration = 447; initialDepth = 495.135611; finalDepth = 498.079556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.483886 # Actual altitude: 52.483886 # Commanded vehicle depth: 498.079556 # Seafloor depth: -549.139297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.823118 meters # Minimum depth: 545.135611 meters looking forward 200.000000 meters along route # Maximum depth: 548.226150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.135611 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374092; longitude = 120.317725; duration = 447; initialDepth = 493.774713; finalDepth = 495.135611; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.944229 # Actual altitude: 52.944229 # Commanded vehicle depth: 495.135611 # Seafloor depth: -548.079840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.822898 meters # Minimum depth: 543.774713 meters looking forward 200.000000 meters along route # Maximum depth: 546.416926 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.774713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374643; longitude = 120.318634; duration = 447; initialDepth = 489.289059; finalDepth = 493.774713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.944229 # Actual altitude: 52.944229 # Commanded vehicle depth: 493.774713 # Seafloor depth: -544.425322 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.822679 meters # Minimum depth: 539.289059 meters looking forward 200.000000 meters along route # Maximum depth: 543.950736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.289059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375193; longitude = 120.319543; duration = 447; initialDepth = 480.364104; finalDepth = 489.289059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4964620000001 # Actual altitude: 52.4964620000001 # Commanded vehicle depth: 489.289059 # Seafloor depth: -541.785521 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.822459 meters # Minimum depth: 530.364104 meters looking forward 200.000000 meters along route # Maximum depth: 539.532751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.364104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375743; longitude = 120.320452; duration = 447; initialDepth = 471.353441; finalDepth = 480.364104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9944390000001 # Actual altitude: 53.9944390000001 # Commanded vehicle depth: 480.364104 # Seafloor depth: -534.358543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 111.822240 meters # Minimum depth: 521.353441 meters looking forward 200.000000 meters along route # Maximum depth: 532.045043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.353441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.376293; longitude = 120.321361; duration = 447; initialDepth = 469.501413; finalDepth = 471.353441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.195655 # Actual altitude: 55.195655 # Commanded vehicle depth: 471.353441 # Seafloor depth: -526.549096 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 149.036462 meters # Minimum depth: 519.501413 meters looking forward 200.000000 meters along route # Maximum depth: 521.353441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.501413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.376844; longitude = 120.322270; duration = 596; initialDepth = 469.088229; finalDepth = 469.501413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.195655 # Actual altitude: 55.195655 # Commanded vehicle depth: 469.501413 # Seafloor depth: -521.233201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 137.676716 meters # Minimum depth: 519.088229 meters looking forward 200.000000 meters along route # Maximum depth: 520.226237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 469.088229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.377577; longitude = 120.323482; duration = 550; # abortOnTimeout = True; initialDepth = 468.395981; finalDepth = 469.088229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.7317880000001 # Actual altitude: 51.7317880000001 # Commanded vehicle depth: 469.088229 # Seafloor depth: -519.240540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 151.473117 meters # Minimum depth: 518.395981 meters looking forward 200.000000 meters along route # Maximum depth: 522.135996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 468.395981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.376668; longitude = 120.324392; duration = 605; # abortOnTimeout = True; initialDepth = 470.249969; finalDepth = 468.395981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1523110000001 # Actual altitude: 50.1523110000001 # Commanded vehicle depth: 468.395981 # Seafloor depth: -518.395981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 113.565178 meters # Minimum depth: 520.249969 meters looking forward 200.000000 meters along route # Maximum depth: 525.110277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 470.249969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375896; longitude = 120.323179; duration = 454; initialDepth = 473.894359; finalDepth = 470.249969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.949799 # Actual altitude: 51.949799 # Commanded vehicle depth: 470.249969 # Seafloor depth: -522.199768 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 113.565407 meters # Minimum depth: 523.894359 meters looking forward 200.000000 meters along route # Maximum depth: 527.170042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.894359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375318; longitude = 120.322270; duration = 454; initialDepth = 476.990435; finalDepth = 473.894359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.949799 # Actual altitude: 51.949799 # Commanded vehicle depth: 473.894359 # Seafloor depth: -525.665255 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 126.990949 meters # Minimum depth: 526.990435 meters looking forward 200.000000 meters along route # Maximum depth: 528.402041 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.990435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374739; longitude = 120.321361; duration = 507; initialDepth = 477.343304; finalDepth = 476.990435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.770896 # Actual altitude: 51.770896 # Commanded vehicle depth: 476.990435 # Seafloor depth: -526.990435 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 119.015617 meters # Minimum depth: 527.343304 meters looking forward 200.000000 meters along route # Maximum depth: 531.573027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.343304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374092; longitude = 120.320345; duration = 476; initialDepth = 481.260676; finalDepth = 477.343304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.344964 # Actual altitude: 51.344964 # Commanded vehicle depth: 477.343304 # Seafloor depth: -528.688268 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 156.243137 meters # Minimum depth: 531.260676 meters looking forward 200.000000 meters along route # Maximum depth: 538.516879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.260676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373486; longitude = 120.319392; duration = 624; # abortOnTimeout = True; initialDepth = 484.473208; finalDepth = 481.260676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.344964 # Actual altitude: 51.344964 # Commanded vehicle depth: 481.260676 # Seafloor depth: -532.259583 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 103.109529 meters # Minimum depth: 534.473208 meters looking forward 200.000000 meters along route # Maximum depth: 539.767098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.473208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372729; longitude = 120.318114; duration = 412; initialDepth = 488.160817; finalDepth = 484.473208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9951160000001 # Actual altitude: 53.9951160000001 # Commanded vehicle depth: 484.473208 # Seafloor depth: -538.468324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.129443 meters # Minimum depth: 538.160817 meters looking forward 200.000000 meters along route # Maximum depth: 544.918882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.160817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372229; longitude = 120.317270; duration = 444; initialDepth = 492.953610; finalDepth = 488.160817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9951160000001 # Actual altitude: 53.9951160000001 # Commanded vehicle depth: 488.160817 # Seafloor depth: -540.224451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.129658 meters # Minimum depth: 542.953610 meters looking forward 200.000000 meters along route # Maximum depth: 554.296125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 492.953610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371690; longitude = 120.316361; duration = 444; initialDepth = 499.991003; finalDepth = 492.953610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.335077 # Actual altitude: 53.335077 # Commanded vehicle depth: 492.95361 # Seafloor depth: -546.288687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.129873 meters # Minimum depth: 549.991003 meters looking forward 200.000000 meters along route # Maximum depth: 554.854259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.991003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371152; longitude = 120.315452; duration = 444; initialDepth = 504.042461; finalDepth = 499.991003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.335077 # Actual altitude: 53.335077 # Commanded vehicle depth: 499.991003 # Seafloor depth: -549.991003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.130089 meters # Minimum depth: 554.042461 meters looking forward 200.000000 meters along route # Maximum depth: 571.424328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.042461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370613; longitude = 120.314543; duration = 444; initialDepth = 517.708001; finalDepth = 504.042461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3980319999999 # Actual altitude: 59.3980319999999 # Commanded vehicle depth: 504.042461 # Seafloor depth: -563.440493 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.130304 meters # Minimum depth: 567.708001 meters looking forward 200.000000 meters along route # Maximum depth: 575.760550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 517.708001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370074; longitude = 120.313634; duration = 444; initialDepth = 524.000921; finalDepth = 517.708001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3980319999999 # Actual altitude: 59.3980319999999 # Commanded vehicle depth: 517.708001 # Seafloor depth: -575.659320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.130520 meters # Minimum depth: 574.000921 meters looking forward 200.000000 meters along route # Maximum depth: 575.181740 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.000921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369536; longitude = 120.312725; duration = 444; initialDepth = 524.022745; finalDepth = 524.000921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.951319 # Actual altitude: 57.951319 # Commanded vehicle depth: 524.000921 # Seafloor depth: -574.000921 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.130735 meters # Minimum depth: 574.022745 meters looking forward 200.000000 meters along route # Maximum depth: 577.899919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.022745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368997; longitude = 120.311816; duration = 444; initialDepth = 527.443982; finalDepth = 524.022745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.58352 # Actual altitude: 51.58352 # Commanded vehicle depth: 524.022745 # Seafloor depth: -575.606265 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.130950 meters # Minimum depth: 577.443982 meters looking forward 200.000000 meters along route # Maximum depth: 579.637301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.443982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368458; longitude = 120.310907; duration = 444; initialDepth = 529.329079; finalDepth = 527.443982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.58352 # Actual altitude: 51.58352 # Commanded vehicle depth: 527.443982 # Seafloor depth: -578.901717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 111.131166 meters # Minimum depth: 579.329079 meters looking forward 200.000000 meters along route # Maximum depth: 579.637301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.329079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367920; longitude = 120.309998; duration = 444; initialDepth = 529.329079; finalDepth = 529.329079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.457735 # Actual altitude: 51.457735 # Commanded vehicle depth: 529.329079 # Seafloor depth: -579.487550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 115.827392 meters # Minimum depth: 579.329079 meters looking forward 200.000000 meters along route # Maximum depth: 582.273609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.329079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367381; longitude = 120.309089; duration = 463; initialDepth = 530.532225; finalDepth = 529.329079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.248888 # Actual altitude: 50.248888 # Commanded vehicle depth: 529.329079 # Seafloor depth: -579.577967 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 124.940935 meters # Minimum depth: 580.532225 meters looking forward 200.000000 meters along route # Maximum depth: 585.057130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.532225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366820; longitude = 120.308141; duration = 499; initialDepth = 531.009335; finalDepth = 530.532225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.860141 # Actual altitude: 51.860141 # Commanded vehicle depth: 530.532225 # Seafloor depth: -582.392366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 137.167138 meters # Minimum depth: 581.009335 meters looking forward 200.000000 meters along route # Maximum depth: 585.057130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.009335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366214; longitude = 120.307119; duration = 548; # abortOnTimeout = True; initialDepth = 522.686238; finalDepth = 531.009335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7373690000001 # Actual altitude: 53.7373690000001 # Commanded vehicle depth: 531.009335 # Seafloor depth: -584.746704 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 102.864003 meters # Minimum depth: 572.686238 meters looking forward 200.000000 meters along route # Maximum depth: 581.379211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.686238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365704; longitude = 120.305907; duration = 411; initialDepth = 522.686238; finalDepth = 522.686238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7373690000001 # Actual altitude: 53.7373690000001 # Commanded vehicle depth: 522.686238 # Seafloor depth: -575.920147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.864155 meters # Minimum depth: 572.686238 meters looking forward 200.000000 meters along route # Maximum depth: 579.279949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.686238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365322; longitude = 120.304998; duration = 411; initialDepth = 526.725927; finalDepth = 522.686238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.233909 # Actual altitude: 53.233909 # Commanded vehicle depth: 522.686238 # Seafloor depth: -573.463214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 105.669747 meters # Minimum depth: 576.725927 meters looking forward 200.000000 meters along route # Maximum depth: 591.920135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.725927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364940; longitude = 120.304089; duration = 422; initialDepth = 537.523483; finalDepth = 526.725927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.504462 # Actual altitude: 54.504462 # Commanded vehicle depth: 526.725927 # Seafloor depth: -581.230389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.059019 meters # Minimum depth: 587.523483 meters looking forward 200.000000 meters along route # Maximum depth: 592.966576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.523483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364547; longitude = 120.303155; duration = 400; initialDepth = 541.133489; finalDepth = 537.523483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.504462 # Actual altitude: 54.504462 # Commanded vehicle depth: 537.523483 # Seafloor depth: -591.984755 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.864611 meters # Minimum depth: 591.133489 meters looking forward 200.000000 meters along route # Maximum depth: 592.966576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.133489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364175; longitude = 120.302270; duration = 411; initialDepth = 539.506054; finalDepth = 541.133489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4612719999999 # Actual altitude: 54.4612719999999 # Commanded vehicle depth: 541.133489 # Seafloor depth: -592.001185 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.864763 meters # Minimum depth: 589.506054 meters looking forward 200.000000 meters along route # Maximum depth: 591.713427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 539.506054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363793; longitude = 120.301361; duration = 411; initialDepth = 532.809055; finalDepth = 539.506054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.249577 # Actual altitude: 51.249577 # Commanded vehicle depth: 539.506054 # Seafloor depth: -590.755631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.864916 meters # Minimum depth: 582.809055 meters looking forward 200.000000 meters along route # Maximum depth: 589.595250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.809055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363410; longitude = 120.300452; duration = 411; initialDepth = 532.809055; finalDepth = 532.809055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7861310000001 # Actual altitude: 54.7861310000001 # Commanded vehicle depth: 532.809055 # Seafloor depth: -587.595186 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.865068 meters # Minimum depth: 582.809055 meters looking forward 200.000000 meters along route # Maximum depth: 589.198205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.809055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363028; longitude = 120.299543; duration = 411; initialDepth = 537.848571; finalDepth = 532.809055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7861310000001 # Actual altitude: 54.7861310000001 # Commanded vehicle depth: 532.809055 # Seafloor depth: -583.349170 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.865220 meters # Minimum depth: 587.848571 meters looking forward 200.000000 meters along route # Maximum depth: 595.071989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 537.848571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362646; longitude = 120.298634; duration = 411; initialDepth = 542.109023; finalDepth = 537.848571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.664858 # Actual altitude: 52.664858 # Commanded vehicle depth: 537.848571 # Seafloor depth: -590.513429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.865372 meters # Minimum depth: 592.109023 meters looking forward 200.000000 meters along route # Maximum depth: 599.137680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.109023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362263; longitude = 120.297725; duration = 411; initialDepth = 549.137680; finalDepth = 542.109023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1547840000001 # Actual altitude: 53.1547840000001 # Commanded vehicle depth: 542.109023 # Seafloor depth: -595.263807 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.865525 meters # Minimum depth: 599.137680 meters looking forward 200.000000 meters along route # Maximum depth: 605.088450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 549.137680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361881; longitude = 120.296816; duration = 411; initialDepth = 553.309483; finalDepth = 549.137680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2561599999999 # Actual altitude: 53.2561599999999 # Commanded vehicle depth: 549.13768 # Seafloor depth: -602.393840 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 102.865676 meters # Minimum depth: 603.309483 meters looking forward 200.000000 meters along route # Maximum depth: 606.338036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 553.309483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361499; longitude = 120.295907; duration = 411; initialDepth = 556.233113; finalDepth = 553.309483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2561599999999 # Actual altitude: 53.2561599999999 # Commanded vehicle depth: 553.309483 # Seafloor depth: -606.163569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 137.102920 meters # Minimum depth: 606.233113 meters looking forward 200.000000 meters along route # Maximum depth: 607.839060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.233113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361117; longitude = 120.294998; duration = 548; initialDepth = 558.962738; finalDepth = 556.233113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.8540860000001 # Actual altitude: 52.8540860000001 # Commanded vehicle depth: 556.233113 # Seafloor depth: -606.520358 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 208.706710 meters # Minimum depth: 608.962738 meters looking forward 200.000000 meters along route # Maximum depth: 615.877775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 558.962738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360607; longitude = 120.293786; duration = 834; # abortOnTimeout = True; initialDepth = 564.305179; finalDepth = 558.962738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.287245 # Actual altitude: 50.287245 # Commanded vehicle depth: 558.962738 # Seafloor depth: -608.962738 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 104.815929 meters # Minimum depth: 614.305179 meters looking forward 200.000000 meters along route # Maximum depth: 619.490313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.305179 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360001; longitude = 120.291869; duration = 419; initialDepth = 569.490313; finalDepth = 564.305179; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.963737 # Actual altitude: 52.963737 # Commanded vehicle depth: 564.305179 # Seafloor depth: -617.268916 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.487590 meters # Minimum depth: 619.490313 meters looking forward 200.000000 meters along route # Maximum depth: 624.902336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 569.490313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359697; longitude = 120.290907; duration = 593; initialDepth = 574.902336; finalDepth = 569.490313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.963737 # Actual altitude: 52.963737 # Commanded vehicle depth: 569.490313 # Seafloor depth: -621.382764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.487825 meters # Minimum depth: 624.902336 meters looking forward 200.000000 meters along route # Maximum depth: 630.636304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 574.902336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359266; longitude = 120.289543; duration = 593; initialDepth = 580.426464; finalDepth = 574.902336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8924509999999 # Actual altitude: 51.8924509999999 # Commanded vehicle depth: 574.902336 # Seafloor depth: -626.790797 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.488061 meters # Minimum depth: 630.426464 meters looking forward 200.000000 meters along route # Maximum depth: 631.869726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 580.426464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358836; longitude = 120.288179; duration = 593; initialDepth = 579.322929; finalDepth = 580.426464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.888461 # Actual altitude: 51.888461 # Commanded vehicle depth: 580.426464 # Seafloor depth: -631.869726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.488295 meters # Minimum depth: 629.322929 meters looking forward 200.000000 meters along route # Maximum depth: 631.394463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.322929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358405; longitude = 120.286816; duration = 593; initialDepth = 581.394463; finalDepth = 579.322929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.443262 # Actual altitude: 51.443262 # Commanded vehicle depth: 579.322929 # Seafloor depth: -629.322929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.488532 meters # Minimum depth: 631.394463 meters looking forward 200.000000 meters along route # Maximum depth: 634.279404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 581.394463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357974; longitude = 120.285452; duration = 593; initialDepth = 583.549743; finalDepth = 581.394463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940204 # Actual altitude: 51.940204 # Commanded vehicle depth: 581.394463 # Seafloor depth: -633.334667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.488767 meters # Minimum depth: 633.549743 meters looking forward 200.000000 meters along route # Maximum depth: 634.263266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.549743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357543; longitude = 120.284089; duration = 593; initialDepth = 583.581595; finalDepth = 583.549743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940204 # Actual altitude: 51.940204 # Commanded vehicle depth: 583.549743 # Seafloor depth: -633.979718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 148.489002 meters # Minimum depth: 633.581595 meters looking forward 200.000000 meters along route # Maximum depth: 640.605106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 583.581595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357112; longitude = 120.282725; duration = 593; initialDepth = 588.095210; finalDepth = 583.581595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.140927 # Actual altitude: 52.140927 # Commanded vehicle depth: 583.581595 # Seafloor depth: -635.722522 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 108.993923 meters # Minimum depth: 638.095210 meters looking forward 200.000000 meters along route # Maximum depth: 640.605106 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.095210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356681; longitude = 120.281361; duration = 435; initialDepth = 588.095210; finalDepth = 588.095210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.296181 # Actual altitude: 52.296181 # Commanded vehicle depth: 588.09521 # Seafloor depth: -640.391391 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 26 # Segment length 125.812068 meters # Minimum depth: 638.095210 meters looking forward 200.000000 meters along route # Maximum depth: 645.006820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 588.095210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356365; longitude = 120.280360; duration = 503; initialDepth = 595.006820; finalDepth = 588.095210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.296181 # Actual altitude: 52.296181 # Commanded vehicle depth: 588.09521 # Seafloor depth: -638.664794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 122.035976 meters # Minimum depth: 645.006820 meters looking forward 200.000000 meters along route # Maximum depth: 649.796184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 595.006820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356000; longitude = 120.279205; duration = 488; # abortOnTimeout = True; initialDepth = 598.997483; finalDepth = 595.006820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7608650000001 # Actual altitude: 51.7608650000001 # Commanded vehicle depth: 595.00682 # Seafloor depth: -646.767685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.961716 meters # Minimum depth: 648.997483 meters looking forward 200.000000 meters along route # Maximum depth: 652.678521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 598.997483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355456; longitude = 120.278176; duration = 407; initialDepth = 602.678521; finalDepth = 598.997483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7608650000001 # Actual altitude: 51.7608650000001 # Commanded vehicle depth: 598.997483 # Seafloor depth: -649.772949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.961890 meters # Minimum depth: 652.678521 meters looking forward 200.000000 meters along route # Maximum depth: 680.691528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 602.678521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355001; longitude = 120.277316; duration = 407; initialDepth = 605.447042; finalDepth = 602.678521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.065534 # Actual altitude: 77.065534 # Commanded vehicle depth: 602.678521 # Seafloor depth: -679.744055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962065 meters # Minimum depth: 655.447042 meters looking forward 200.000000 meters along route # Maximum depth: 680.691528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.447042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354547; longitude = 120.276457; duration = 407; initialDepth = 605.447042; finalDepth = 605.447042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.065534 # Actual altitude: 77.065534 # Commanded vehicle depth: 605.447042 # Seafloor depth: -655.642975 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962238 meters # Minimum depth: 655.447042 meters looking forward 200.000000 meters along route # Maximum depth: 659.191256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.447042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354092; longitude = 120.275597; duration = 407; initialDepth = 607.523336; finalDepth = 605.447042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301695 # Actual altitude: 51.301695 # Commanded vehicle depth: 605.447042 # Seafloor depth: -656.748737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962413 meters # Minimum depth: 657.523336 meters looking forward 200.000000 meters along route # Maximum depth: 659.191256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.523336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353638; longitude = 120.274737; duration = 407; initialDepth = 607.787442; finalDepth = 607.523336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.301695 # Actual altitude: 51.301695 # Commanded vehicle depth: 607.523336 # Seafloor depth: -658.500525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962587 meters # Minimum depth: 657.787442 meters looking forward 200.000000 meters along route # Maximum depth: 659.831364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.787442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353183; longitude = 120.273877; duration = 407; initialDepth = 608.269221; finalDepth = 607.787442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9771890000001 # Actual altitude: 50.9771890000001 # Commanded vehicle depth: 607.787442 # Seafloor depth: -658.352663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962762 meters # Minimum depth: 658.269221 meters looking forward 200.000000 meters along route # Maximum depth: 659.831364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 608.269221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352729; longitude = 120.273018; duration = 407; initialDepth = 607.654660; finalDepth = 608.269221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.539053 # Actual altitude: 51.539053 # Commanded vehicle depth: 608.269221 # Seafloor depth: -659.808274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.962935 meters # Minimum depth: 657.654660 meters looking forward 200.000000 meters along route # Maximum depth: 658.962799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.654660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352274; longitude = 120.272158; duration = 407; initialDepth = 606.391122; finalDepth = 607.654660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.539053 # Actual altitude: 51.539053 # Commanded vehicle depth: 607.65466 # Seafloor depth: -658.242311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 101.963110 meters # Minimum depth: 656.391122 meters looking forward 200.000000 meters along route # Maximum depth: 657.989282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.391122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351820; longitude = 120.271298; duration = 407; initialDepth = 605.543994; finalDepth = 606.391122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1862180000001 # Actual altitude: 51.1862180000001 # Commanded vehicle depth: 606.391122 # Seafloor depth: -657.577340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 106.196228 meters # Minimum depth: 655.543994 meters looking forward 200.000000 meters along route # Maximum depth: 656.762132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.543994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351365; longitude = 120.270439; duration = 424; initialDepth = 604.937958; finalDepth = 605.543994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1862180000001 # Actual altitude: 51.1862180000001 # Commanded vehicle depth: 605.543994 # Seafloor depth: -656.374037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 107.819007 meters # Minimum depth: 654.937958 meters looking forward 200.000000 meters along route # Maximum depth: 656.045528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.937958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350892; longitude = 120.269543; duration = 431; initialDepth = 604.937958; finalDepth = 604.937958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.830043 # Actual altitude: 50.830043 # Commanded vehicle depth: 604.937958 # Seafloor depth: -655.523854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 125.842442 meters # Minimum depth: 654.937958 meters looking forward 200.000000 meters along route # Maximum depth: 656.027280 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 604.937958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350411; longitude = 120.268634; duration = 503; initialDepth = 605.897781; finalDepth = 604.937958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.585896 # Actual altitude: 50.585896 # Commanded vehicle depth: 604.937958 # Seafloor depth: -654.982901 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 135.285851 meters # Minimum depth: 655.897781 meters looking forward 200.000000 meters along route # Maximum depth: 657.668242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.897781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349850; longitude = 120.267573; duration = 541; # abortOnTimeout = True; initialDepth = 607.482656; finalDepth = 605.897781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.044943 # Actual altitude: 50.044943 # Commanded vehicle depth: 605.897781 # Seafloor depth: -655.897781 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 101.502220 meters # Minimum depth: 657.482656 meters looking forward 200.000000 meters along route # Maximum depth: 662.890523 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 607.482656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349382; longitude = 120.266361; duration = 406; initialDepth = 611.669175; finalDepth = 607.482656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.508917 # Actual altitude: 52.508917 # Commanded vehicle depth: 607.482656 # Seafloor depth: -659.991573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.502358 meters # Minimum depth: 661.669175 meters looking forward 200.000000 meters along route # Maximum depth: 667.237360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 611.669175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349031; longitude = 120.265452; duration = 406; initialDepth = 617.237360; finalDepth = 611.669175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.508917 # Actual altitude: 52.508917 # Commanded vehicle depth: 611.669175 # Seafloor depth: -663.598717 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.502496 meters # Minimum depth: 667.237360 meters looking forward 200.000000 meters along route # Maximum depth: 672.887729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 617.237360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348679; longitude = 120.264543; duration = 406; initialDepth = 621.412041; finalDepth = 617.237360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.767054 # Actual altitude: 53.767054 # Commanded vehicle depth: 617.23736 # Seafloor depth: -671.004414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.502634 meters # Minimum depth: 671.412041 meters looking forward 200.000000 meters along route # Maximum depth: 674.812206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.412041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348328; longitude = 120.263634; duration = 406; initialDepth = 624.611388; finalDepth = 621.412041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.767054 # Actual altitude: 53.767054 # Commanded vehicle depth: 621.412041 # Seafloor depth: -673.782528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.502772 meters # Minimum depth: 674.611388 meters looking forward 200.000000 meters along route # Maximum depth: 678.628991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 624.611388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347977; longitude = 120.262725; duration = 406; initialDepth = 627.850630; finalDepth = 624.611388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3704869999999 # Actual altitude: 52.3704869999999 # Commanded vehicle depth: 624.611388 # Seafloor depth: -676.204300 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.502910 meters # Minimum depth: 677.850630 meters looking forward 200.000000 meters along route # Maximum depth: 687.211500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.850630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347625; longitude = 120.261816; duration = 406; initialDepth = 633.286937; finalDepth = 627.850630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.297246 # Actual altitude: 52.297246 # Commanded vehicle depth: 627.85063 # Seafloor depth: -680.147876 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503049 meters # Minimum depth: 683.286937 meters looking forward 200.000000 meters along route # Maximum depth: 689.985754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 633.286937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347274; longitude = 120.260907; duration = 406; initialDepth = 639.985754; finalDepth = 633.286937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.925437 # Actual altitude: 53.925437 # Commanded vehicle depth: 633.286937 # Seafloor depth: -687.212374 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503186 meters # Minimum depth: 689.985754 meters looking forward 200.000000 meters along route # Maximum depth: 691.720798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 639.985754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346923; longitude = 120.259998; duration = 406; initialDepth = 641.570173; finalDepth = 639.985754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.925437 # Actual altitude: 53.925437 # Commanded vehicle depth: 639.985754 # Seafloor depth: -691.189551 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503324 meters # Minimum depth: 691.570173 meters looking forward 200.000000 meters along route # Maximum depth: 692.212806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.570173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346572; longitude = 120.259089; duration = 406; initialDepth = 642.112605; finalDepth = 641.570173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.203797 # Actual altitude: 51.203797 # Commanded vehicle depth: 641.570173 # Seafloor depth: -691.936402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503463 meters # Minimum depth: 692.112605 meters looking forward 200.000000 meters along route # Maximum depth: 692.374925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.112605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346220; longitude = 120.258180; duration = 406; initialDepth = 642.200576; finalDepth = 642.112605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3662290000001 # Actual altitude: 50.3662290000001 # Commanded vehicle depth: 642.112605 # Seafloor depth: -692.112605 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503601 meters # Minimum depth: 692.200576 meters looking forward 200.000000 meters along route # Maximum depth: 692.583144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.200576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345869; longitude = 120.257270; duration = 406; initialDepth = 642.583144; finalDepth = 642.200576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2635240000001 # Actual altitude: 50.2635240000001 # Commanded vehicle depth: 642.200576 # Seafloor depth: -692.464100 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 101.503739 meters # Minimum depth: 692.583144 meters looking forward 200.000000 meters along route # Maximum depth: 694.630401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.583144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345518; longitude = 120.256361; duration = 406; initialDepth = 644.630401; finalDepth = 642.583144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.627339 # Actual altitude: 50.627339 # Commanded vehicle depth: 642.583144 # Seafloor depth: -693.210483 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 135.353059 meters # Minimum depth: 694.630401 meters looking forward 200.000000 meters along route # Maximum depth: 698.564950 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.630401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345166; longitude = 120.255452; duration = 541; initialDepth = 648.564950; finalDepth = 644.630401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.60729 # Actual altitude: 51.60729 # Commanded vehicle depth: 644.630401 # Seafloor depth: -696.237691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 136.332920 meters # Minimum depth: 698.564950 meters looking forward 200.000000 meters along route # Maximum depth: 701.930344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.564950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344698; longitude = 120.254240; duration = 545; # abortOnTimeout = True; initialDepth = 650.469698; finalDepth = 648.564950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.60729 # Actual altitude: 51.60729 # Commanded vehicle depth: 648.56495 # Seafloor depth: -698.850189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 102.317118 meters # Minimum depth: 700.469698 meters looking forward 200.000000 meters along route # Maximum depth: 704.147097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 650.469698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344092; longitude = 120.253089; duration = 409; initialDepth = 653.113329; finalDepth = 650.469698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.726251 # Actual altitude: 51.726251 # Commanded vehicle depth: 650.469698 # Seafloor depth: -702.195949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 102.391513 meters # Minimum depth: 703.113329 meters looking forward 200.000000 meters along route # Maximum depth: 705.180269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 653.113329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343638; longitude = 120.252226; duration = 409; initialDepth = 654.563166; finalDepth = 653.113329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.726251 # Actual altitude: 51.726251 # Commanded vehicle depth: 653.113329 # Seafloor depth: -704.220991 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.702605 meters # Minimum depth: 704.563166 meters looking forward 200.000000 meters along route # Maximum depth: 707.543391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.563166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343183; longitude = 120.251361; duration = 430; initialDepth = 656.003125; finalDepth = 654.563166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.107662 # Actual altitude: 51.107662 # Commanded vehicle depth: 654.563166 # Seafloor depth: -705.180527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 107.702798 meters # Minimum depth: 706.003125 meters looking forward 200.000000 meters along route # Maximum depth: 710.395786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.003125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342704; longitude = 120.250452; duration = 430; initialDepth = 659.140168; finalDepth = 656.003125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6676930000001 # Actual altitude: 51.6676930000001 # Commanded vehicle depth: 656.003125 # Seafloor depth: -707.670818 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 125.601406 meters # Minimum depth: 709.140168 meters looking forward 200.000000 meters along route # Maximum depth: 712.160515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.140168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342226; longitude = 120.249543; duration = 502; initialDepth = 661.370018; finalDepth = 659.140168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.6676930000001 # Actual altitude: 51.6676930000001 # Commanded vehicle depth: 659.140168 # Seafloor depth: -710.606953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 134.465988 meters # Minimum depth: 711.370018 meters looking forward 200.000000 meters along route # Maximum depth: 712.349869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.370018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341668; longitude = 120.248483; duration = 537; # abortOnTimeout = True; initialDepth = 659.914305; finalDepth = 661.370018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.466785 # Actual altitude: 51.466785 # Commanded vehicle depth: 661.370018 # Seafloor depth: -712.349869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.857653 meters # Minimum depth: 709.914305 meters looking forward 200.000000 meters along route # Maximum depth: 711.370018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.914305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340456; longitude = 120.248428; duration = 403; initialDepth = 659.575484; finalDepth = 659.914305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9798510000001 # Actual altitude: 50.9798510000001 # Commanded vehicle depth: 659.914305 # Seafloor depth: -710.553737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 134.451146 meters # Minimum depth: 709.575484 meters looking forward 200.000000 meters along route # Maximum depth: 709.914305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.575484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339547; longitude = 120.248386; duration = 537; initialDepth = 656.433112; finalDepth = 659.575484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.6394319999999 # Actual altitude: 50.6394319999999 # Commanded vehicle depth: 659.575484 # Seafloor depth: -709.679230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 146.566705 meters # Minimum depth: 706.433112 meters looking forward 200.000000 meters along route # Maximum depth: 709.866732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.433112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338335; longitude = 120.248331; duration = 586; # abortOnTimeout = True; initialDepth = 655.975343; finalDepth = 656.433112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3602079999999 # Actual altitude: 53.3602079999999 # Commanded vehicle depth: 656.433112 # Seafloor depth: -709.793320 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 141.340903 meters # Minimum depth: 705.975343 meters looking forward 200.000000 meters along route # Maximum depth: 707.735513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.975343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337274; longitude = 120.249179; duration = 565; initialDepth = 655.975343; finalDepth = 655.975343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3602079999999 # Actual altitude: 53.3602079999999 # Commanded vehicle depth: 655.975343 # Seafloor depth: -706.099074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 109.862571 meters # Minimum depth: 705.975343 meters looking forward 200.000000 meters along route # Maximum depth: 708.083712 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 655.975343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336251; longitude = 120.249998; duration = 439; initialDepth = 658.082754; finalDepth = 655.975343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.968928 # Actual altitude: 51.968928 # Commanded vehicle depth: 655.975343 # Seafloor depth: -707.944271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 125.693222 meters # Minimum depth: 708.082754 meters looking forward 200.000000 meters along route # Maximum depth: 711.151820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.082754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335456; longitude = 120.250634; duration = 502; initialDepth = 659.351425; finalDepth = 658.082754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.968928 # Actual altitude: 51.968928 # Commanded vehicle depth: 658.082754 # Seafloor depth: -708.236589 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 104.621888 meters # Minimum depth: 709.351425 meters looking forward 200.000000 meters along route # Maximum depth: 711.790431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.351425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334546; longitude = 120.251361; duration = 418; initialDepth = 661.537842; finalDepth = 659.351425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.8011680000001 # Actual altitude: 51.8011680000001 # Commanded vehicle depth: 659.351425 # Seafloor depth: -711.152593 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 104.908681 meters # Minimum depth: 711.537842 meters looking forward 200.000000 meters along route # Maximum depth: 711.790431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.537842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333789; longitude = 120.251967; duration = 419; # abortOnTimeout = True; initialDepth = 661.554585; finalDepth = 661.537842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8011680000001 # Actual altitude: 51.8011680000001 # Commanded vehicle depth: 661.537842 # Seafloor depth: -711.603958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 146.832900 meters # Minimum depth: 711.554585 meters looking forward 200.000000 meters along route # Maximum depth: 714.974370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.554585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333158; longitude = 120.252725; duration = 587; initialDepth = 664.974370; finalDepth = 661.554585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0661160000001 # Actual altitude: 50.0661160000001 # Commanded vehicle depth: 661.554585 # Seafloor depth: -711.595623 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 125.830386 meters # Minimum depth: 714.974370 meters looking forward 200.000000 meters along route # Maximum depth: 716.847456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.974370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332274; longitude = 120.253786; duration = 503; initialDepth = 666.043880; finalDepth = 664.974370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.674897 # Actual altitude: 50.674897 # Commanded vehicle depth: 664.97437 # Seafloor depth: -715.649267 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 179.826341 meters # Minimum depth: 716.043880 meters looking forward 200.000000 meters along route # Maximum depth: 716.706223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.043880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331517; longitude = 120.254695; duration = 719; # abortOnTimeout = True; initialDepth = 665.972372; finalDepth = 666.043880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.674897 # Actual altitude: 50.674897 # Commanded vehicle depth: 666.04388 # Seafloor depth: -716.706223 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 139.824238 meters # Minimum depth: 715.972372 meters looking forward 200.000000 meters along route # Maximum depth: 716.082538 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.972372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331039; longitude = 120.256361; duration = 559; initialDepth = 665.972372; finalDepth = 665.972372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.6623430000001 # Actual altitude: 50.6623430000001 # Commanded vehicle depth: 665.972372 # Seafloor depth: -716.082538 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 101.874411 meters # Minimum depth: 715.972372 meters looking forward 200.000000 meters along route # Maximum depth: 716.869218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.972372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330667; longitude = 120.257657; duration = 407; # abortOnTimeout = True; initialDepth = 666.869218; finalDepth = 665.972372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3491310000001 # Actual altitude: 50.3491310000001 # Commanded vehicle depth: 665.972372 # Seafloor depth: -716.321503 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 142.180395 meters # Minimum depth: 716.869218 meters looking forward 200.000000 meters along route # Maximum depth: 724.587875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 666.869218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330803; longitude = 120.258634; duration = 568; initialDepth = 674.587875; finalDepth = 666.869218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4490059999999 # Actual altitude: 51.4490059999999 # Commanded vehicle depth: 666.869218 # Seafloor depth: -718.318224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180373 meters # Minimum depth: 724.587875 meters looking forward 200.000000 meters along route # Maximum depth: 728.255008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 674.587875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330992; longitude = 120.259998; duration = 568; initialDepth = 678.255008; finalDepth = 674.587875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8521139999999 # Actual altitude: 51.8521139999999 # Commanded vehicle depth: 674.587875 # Seafloor depth: -726.439989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180351 meters # Minimum depth: 728.255008 meters looking forward 200.000000 meters along route # Maximum depth: 731.922080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 678.255008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331181; longitude = 120.261361; duration = 568; initialDepth = 680.847167; finalDepth = 678.255008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8521139999999 # Actual altitude: 51.8521139999999 # Commanded vehicle depth: 678.255008 # Seafloor depth: -728.928082 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180329 meters # Minimum depth: 730.847167 meters looking forward 200.000000 meters along route # Maximum depth: 734.121056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.847167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331371; longitude = 120.262725; duration = 568; initialDepth = 684.121056; finalDepth = 680.847167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.18181 # Actual altitude: 51.18181 # Commanded vehicle depth: 680.847167 # Seafloor depth: -732.028977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180306 meters # Minimum depth: 734.121056 meters looking forward 200.000000 meters along route # Maximum depth: 735.417114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.121056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331560; longitude = 120.264089; duration = 568; initialDepth = 682.710923; finalDepth = 684.121056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.18181 # Actual altitude: 51.18181 # Commanded vehicle depth: 684.121056 # Seafloor depth: -735.062947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180285 meters # Minimum depth: 732.710923 meters looking forward 200.000000 meters along route # Maximum depth: 735.417114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.710923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331750; longitude = 120.265452; duration = 568; initialDepth = 682.710923; finalDepth = 682.710923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8206740000001 # Actual altitude: 51.8206740000001 # Commanded vehicle depth: 682.710923 # Seafloor depth: -734.531597 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 142.180262 meters # Minimum depth: 732.710923 meters looking forward 200.000000 meters along route # Maximum depth: 734.496515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.710923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331939; longitude = 120.266816; duration = 568; initialDepth = 684.496515; finalDepth = 682.710923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8206740000001 # Actual altitude: 51.8206740000001 # Commanded vehicle depth: 682.710923 # Seafloor depth: -733.145274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 109.540740 meters # Minimum depth: 734.496515 meters looking forward 200.000000 meters along route # Maximum depth: 736.843639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.496515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332128; longitude = 120.268180; duration = 438; initialDepth = 685.914410; finalDepth = 684.496515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.639497 # Actual altitude: 50.639497 # Commanded vehicle depth: 684.496515 # Seafloor depth: -735.136012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 127.426315 meters # Minimum depth: 735.914410 meters looking forward 200.000000 meters along route # Maximum depth: 738.170159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 685.914410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332274; longitude = 120.269230; duration = 509; initialDepth = 688.170159; finalDepth = 685.914410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.144988 # Actual altitude: 51.144988 # Commanded vehicle depth: 685.91441 # Seafloor depth: -737.059398 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 123.217445 meters # Minimum depth: 738.170159 meters looking forward 200.000000 meters along route # Maximum depth: 740.060305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.170159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332444; longitude = 120.270452; duration = 492; initialDepth = 690.273468; finalDepth = 688.170159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.144988 # Actual altitude: 51.144988 # Commanded vehicle depth: 688.170159 # Seafloor depth: -738.770806 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 177.289670 meters # Minimum depth: 740.273468 meters looking forward 200.000000 meters along route # Maximum depth: 741.616637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 690.273468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332608; longitude = 120.271634; duration = 709; # abortOnTimeout = True; initialDepth = 691.307258; finalDepth = 690.273468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.600647 # Actual altitude: 50.600647 # Commanded vehicle depth: 690.273468 # Seafloor depth: -740.273468 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.284990 meters # Minimum depth: 741.307258 meters looking forward 200.000000 meters along route # Maximum depth: 742.499775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.307258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331907; longitude = 120.273180; duration = 417; initialDepth = 692.180407; finalDepth = 691.307258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.674529 # Actual altitude: 50.674529 # Commanded vehicle depth: 691.307258 # Seafloor depth: -741.981787 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.285320 meters # Minimum depth: 742.180407 meters looking forward 200.000000 meters along route # Maximum depth: 744.137489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 692.180407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331495; longitude = 120.274089; duration = 417; initialDepth = 693.843913; finalDepth = 692.180407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.125121 # Actual altitude: 51.125121 # Commanded vehicle depth: 692.180407 # Seafloor depth: -743.305528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.285649 meters # Minimum depth: 743.843913 meters looking forward 200.000000 meters along route # Maximum depth: 746.393729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 693.843913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331083; longitude = 120.274998; duration = 417; initialDepth = 696.229601; finalDepth = 693.843913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.402262 # Actual altitude: 51.402262 # Commanded vehicle depth: 693.843913 # Seafloor depth: -745.246175 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.285977 meters # Minimum depth: 746.229601 meters looking forward 200.000000 meters along route # Maximum depth: 747.661279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 696.229601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330671; longitude = 120.275907; duration = 417; initialDepth = 697.625072; finalDepth = 696.229601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.402262 # Actual altitude: 51.402262 # Commanded vehicle depth: 696.229601 # Seafloor depth: -747.032161 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.286306 meters # Minimum depth: 747.625072 meters looking forward 200.000000 meters along route # Maximum depth: 750.794718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.625072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330259; longitude = 120.276816; duration = 417; initialDepth = 700.435087; finalDepth = 697.625072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.24491 # Actual altitude: 51.24491 # Commanded vehicle depth: 697.625072 # Seafloor depth: -748.869982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 136.401894 meters # Minimum depth: 750.435087 meters looking forward 200.000000 meters along route # Maximum depth: 754.645960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 700.435087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329847; longitude = 120.277725; duration = 545; initialDepth = 703.798852; finalDepth = 700.435087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.399987 # Actual altitude: 51.399987 # Commanded vehicle depth: 700.435087 # Seafloor depth: -751.835074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 132.172065 meters # Minimum depth: 753.798852 meters looking forward 200.000000 meters along route # Maximum depth: 759.168230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.798852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.329308; longitude = 120.278914; duration = 528; # abortOnTimeout = True; initialDepth = 707.779137; finalDepth = 703.798852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.662696 # Actual altitude: 51.662696 # Commanded vehicle depth: 703.798852 # Seafloor depth: -755.461548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 132.717054 meters # Minimum depth: 757.779137 meters looking forward 200.000000 meters along route # Maximum depth: 759.392776 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 707.779137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330181; longitude = 120.279787; duration = 530; # abortOnTimeout = True; initialDepth = 704.978223; finalDepth = 707.779137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.662696 # Actual altitude: 51.662696 # Commanded vehicle depth: 707.779137 # Seafloor depth: -759.392776 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.645258 meters # Minimum depth: 754.978223 meters looking forward 200.000000 meters along route # Maximum depth: 758.287819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 704.978223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.330713; longitude = 120.278634; duration = 418; initialDepth = 703.326756; finalDepth = 704.978223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.613639 # Actual altitude: 51.613639 # Commanded vehicle depth: 704.978223 # Seafloor depth: -756.147528 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.644926 meters # Minimum depth: 753.326756 meters looking forward 200.000000 meters along route # Maximum depth: 755.071363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 703.326756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331132; longitude = 120.277725; duration = 418; initialDepth = 701.283268; finalDepth = 703.326756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.169305 # Actual altitude: 51.169305 # Commanded vehicle depth: 703.326756 # Seafloor depth: -753.980733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.644592 meters # Minimum depth: 751.283268 meters looking forward 200.000000 meters along route # Maximum depth: 753.411965 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 701.283268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331552; longitude = 120.276816; duration = 418; initialDepth = 699.366075; finalDepth = 701.283268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1687939999999 # Actual altitude: 51.1687939999999 # Commanded vehicle depth: 701.283268 # Seafloor depth: -752.452062 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.644261 meters # Minimum depth: 749.366075 meters looking forward 200.000000 meters along route # Maximum depth: 751.563201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.366075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331971; longitude = 120.275907; duration = 418; initialDepth = 697.018154; finalDepth = 699.366075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2172879999999 # Actual altitude: 51.2172879999999 # Commanded vehicle depth: 699.366075 # Seafloor depth: -750.583363 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.643927 meters # Minimum depth: 747.018154 meters looking forward 200.000000 meters along route # Maximum depth: 749.822978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 697.018154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332391; longitude = 120.274998; duration = 418; initialDepth = 695.317656; finalDepth = 697.018154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.842848 # Actual altitude: 51.842848 # Commanded vehicle depth: 697.018154 # Seafloor depth: -748.861002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.643595 meters # Minimum depth: 745.317656 meters looking forward 200.000000 meters along route # Maximum depth: 747.713102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 695.317656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332810; longitude = 120.274089; duration = 418; initialDepth = 694.170757; finalDepth = 695.317656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.842848 # Actual altitude: 51.842848 # Commanded vehicle depth: 695.317656 # Seafloor depth: -746.522898 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 139.568567 meters # Minimum depth: 744.170757 meters looking forward 200.000000 meters along route # Maximum depth: 745.752951 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 694.170757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333230; longitude = 120.273180; duration = 558; initialDepth = 691.189140; finalDepth = 694.170757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.205242 # Actual altitude: 51.205242 # Commanded vehicle depth: 694.170757 # Seafloor depth: -745.162859 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 158.106672 meters # Minimum depth: 741.189140 meters looking forward 200.000000 meters along route # Maximum depth: 744.227746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 691.189140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333789; longitude = 120.271967; duration = 632; # abortOnTimeout = True; initialDepth = 688.593593; finalDepth = 691.189140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4214400000001 # Actual altitude: 52.4214400000001 # Commanded vehicle depth: 691.18914 # Seafloor depth: -743.610580 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 142.332184 meters # Minimum depth: 738.593593 meters looking forward 200.000000 meters along route # Maximum depth: 741.239424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.593593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333568; longitude = 120.270452; duration = 569; initialDepth = 684.511931; finalDepth = 688.593593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4214400000001 # Actual altitude: 52.4214400000001 # Commanded vehicle depth: 688.593593 # Seafloor depth: -740.436194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 133.884787 meters # Minimum depth: 734.511931 meters looking forward 200.000000 meters along route # Maximum depth: 738.593593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 684.511931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333370; longitude = 120.269089; duration = 535; initialDepth = 682.908902; finalDepth = 684.511931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.760234 # Actual altitude: 52.760234 # Commanded vehicle depth: 684.511931 # Seafloor depth: -737.272165 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 103.335587 meters # Minimum depth: 732.908902 meters looking forward 200.000000 meters along route # Maximum depth: 735.802688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 682.908902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333183; longitude = 120.267806; duration = 413; initialDepth = 680.776896; finalDepth = 682.908902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.760234 # Actual altitude: 52.760234 # Commanded vehicle depth: 682.908902 # Seafloor depth: -733.799246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 142.332265 meters # Minimum depth: 730.776896 meters looking forward 200.000000 meters along route # Maximum depth: 732.908902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.776896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333039; longitude = 120.266816; duration = 569; initialDepth = 680.776896; finalDepth = 680.776896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3124660000001 # Actual altitude: 51.3124660000001 # Commanded vehicle depth: 680.776896 # Seafloor depth: -732.089362 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 142.332296 meters # Minimum depth: 730.776896 meters looking forward 200.000000 meters along route # Maximum depth: 732.667124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.776896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332841; longitude = 120.265452; duration = 569; initialDepth = 680.207849; finalDepth = 680.776896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3124660000001 # Actual altitude: 51.3124660000001 # Commanded vehicle depth: 680.776896 # Seafloor depth: -731.449054 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 142.332327 meters # Minimum depth: 730.207849 meters looking forward 200.000000 meters along route # Maximum depth: 732.613320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.207849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332642; longitude = 120.264089; duration = 569; initialDepth = 671.855144; finalDepth = 680.207849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.010528 # Actual altitude: 52.010528 # Commanded vehicle depth: 680.207849 # Seafloor depth: -732.218377 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 121.495953 meters # Minimum depth: 721.855144 meters looking forward 200.000000 meters along route # Maximum depth: 730.207849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 671.855144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332444; longitude = 120.262725; duration = 485; initialDepth = 668.546295; finalDepth = 671.855144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.800803 # Actual altitude: 55.800803 # Commanded vehicle depth: 671.855144 # Seafloor depth: -727.655947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 115.724661 meters # Minimum depth: 718.546295 meters looking forward 200.000000 meters along route # Maximum depth: 724.347238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 668.546295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332274; longitude = 120.261561; duration = 462; initialDepth = 664.288474; finalDepth = 668.546295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.800803 # Actual altitude: 55.800803 # Commanded vehicle depth: 668.546295 # Seafloor depth: -720.972917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 142.332410 meters # Minimum depth: 714.288474 meters looking forward 200.000000 meters along route # Maximum depth: 718.546295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 664.288474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332113; longitude = 120.260452; duration = 569; initialDepth = 660.862860; finalDepth = 664.288474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.850053 # Actual altitude: 52.850053 # Commanded vehicle depth: 664.288474 # Seafloor depth: -717.138527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 105.589047 meters # Minimum depth: 710.862860 meters looking forward 200.000000 meters along route # Maximum depth: 714.288474 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.862860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331914; longitude = 120.259089; duration = 422; initialDepth = 661.043712; finalDepth = 660.862860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.850053 # Actual altitude: 52.850053 # Commanded vehicle depth: 660.86286 # Seafloor depth: -712.098457 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 144.467179 meters # Minimum depth: 711.043712 meters looking forward 200.000000 meters along route # Maximum depth: 713.041290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.043712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.331767; longitude = 120.258077; duration = 577; # abortOnTimeout = True; initialDepth = 661.189774; finalDepth = 661.043712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.997578 # Actual altitude: 51.997578 # Commanded vehicle depth: 661.043712 # Seafloor depth: -713.041290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 138.827049 meters # Minimum depth: 711.189774 meters looking forward 200.000000 meters along route # Maximum depth: 713.334458 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.189774 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332335; longitude = 120.256816; duration = 555; initialDepth = 660.109768; finalDepth = 661.189774; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.997578 # Actual altitude: 51.997578 # Commanded vehicle depth: 661.189774 # Seafloor depth: -712.190650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 76.907846 meters # Minimum depth: 710.109768 meters looking forward 200.000000 meters along route # Maximum depth: 713.334458 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 660.109768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.332880; longitude = 120.255604; duration = 307; # abortOnTimeout = True; initialDepth = 658.924452; finalDepth = 660.109768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0008759999999 # Actual altitude: 51.0008759999999 # Commanded vehicle depth: 660.109768 # Seafloor depth: -711.107010 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 153.853780 meters # Minimum depth: 708.924452 meters looking forward 200.000000 meters along route # Maximum depth: 710.109768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 658.924452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.333284; longitude = 120.254998; duration = 615; initialDepth = 659.528812; finalDepth = 658.924452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9972419999999 # Actual altitude: 50.9972419999999 # Commanded vehicle depth: 658.924452 # Seafloor depth: -709.401556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 115.280721 meters # Minimum depth: 709.528812 meters looking forward 200.000000 meters along route # Maximum depth: 710.642856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.528812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334092; longitude = 120.253785; duration = 461; initialDepth = 659.014587; finalDepth = 659.528812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.4771040000001 # Actual altitude: 50.4771040000001 # Commanded vehicle depth: 659.528812 # Seafloor depth: -709.666235 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 108.316778 meters # Minimum depth: 709.014587 meters looking forward 200.000000 meters along route # Maximum depth: 710.642856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 659.014587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.334698; longitude = 120.252876; duration = 433; # abortOnTimeout = True; initialDepth = 657.942984; finalDepth = 659.014587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.359497 # Actual altitude: 51.359497 # Commanded vehicle depth: 659.014587 # Seafloor depth: -710.374084 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 139.156683 meters # Minimum depth: 707.942984 meters looking forward 200.000000 meters along route # Maximum depth: 709.214471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 657.942984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.335456; longitude = 120.252213; duration = 556; initialDepth = 656.640858; finalDepth = 657.942984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.359497 # Actual altitude: 51.359497 # Commanded vehicle depth: 657.942984 # Seafloor depth: -708.769371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 148.531888 meters # Minimum depth: 706.640858 meters looking forward 200.000000 meters along route # Maximum depth: 709.214471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.640858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.336430; longitude = 120.251361; duration = 594; initialDepth = 656.341487; finalDepth = 656.640858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4436900000001 # Actual altitude: 52.4436900000001 # Commanded vehicle depth: 656.640858 # Seafloor depth: -709.084548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 123.723901 meters # Minimum depth: 706.341487 meters looking forward 200.000000 meters along route # Maximum depth: 707.659586 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 656.341487 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.337469; longitude = 120.250452; duration = 494; initialDepth = 654.778298; finalDepth = 656.341487; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.4436900000001 # Actual altitude: 52.4436900000001 # Commanded vehicle depth: 656.341487 # Seafloor depth: -706.615060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 84.046775 meters # Minimum depth: 704.778298 meters looking forward 200.000000 meters along route # Maximum depth: 706.634958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 654.778298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.338335; longitude = 120.249695; duration = 336; # abortOnTimeout = True; initialDepth = 648.404094; finalDepth = 654.778298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8249430000001 # Actual altitude: 50.8249430000001 # Commanded vehicle depth: 654.778298 # Seafloor depth: -705.603241 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.886996 meters # Minimum depth: 698.404094 meters looking forward 200.000000 meters along route # Maximum depth: 705.603241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 648.404094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.339092; longitude = 120.249735; duration = 403; initialDepth = 646.353119; finalDepth = 648.404094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.141426 # Actual altitude: 53.141426 # Commanded vehicle depth: 648.404094 # Seafloor depth: -701.545520 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 134.565591 meters # Minimum depth: 696.353119 meters looking forward 200.000000 meters along route # Maximum depth: 698.404094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 646.353119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.340001; longitude = 120.249782; duration = 538; initialDepth = 642.835404; finalDepth = 646.353119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.141426 # Actual altitude: 53.141426 # Commanded vehicle depth: 646.353119 # Seafloor depth: -696.353119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 121.735838 meters # Minimum depth: 692.835404 meters looking forward 200.000000 meters along route # Maximum depth: 700.106964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.835404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341214; longitude = 120.249846; duration = 486; # abortOnTimeout = True; initialDepth = 641.380432; finalDepth = 642.835404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2715599999999 # Actual altitude: 57.2715599999999 # Commanded vehicle depth: 642.835404 # Seafloor depth: -700.106964 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.325625 meters # Minimum depth: 691.380432 meters looking forward 200.000000 meters along route # Maximum depth: 694.588662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.380432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.341696; longitude = 120.250907; duration = 417; initialDepth = 640.791076; finalDepth = 641.380432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2715599999999 # Actual altitude: 57.2715599999999 # Commanded vehicle depth: 641.380432 # Seafloor depth: -691.795823 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.325458 meters # Minimum depth: 690.791076 meters looking forward 200.000000 meters along route # Maximum depth: 692.069325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.791076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342109; longitude = 120.251816; duration = 417; initialDepth = 640.127351; finalDepth = 640.791076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.415391 # Actual altitude: 50.415391 # Commanded vehicle depth: 640.791076 # Seafloor depth: -690.791076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 104.325290 meters # Minimum depth: 690.127351 meters looking forward 200.000000 meters along route # Maximum depth: 691.297345 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 640.127351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342522; longitude = 120.252725; duration = 417; initialDepth = 641.238731; finalDepth = 640.127351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 640.127351 # Seafloor depth: -690.127351 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 139.078315 meters # Minimum depth: 691.238731 meters looking forward 200.000000 meters along route # Maximum depth: 693.334593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.238731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.342935; longitude = 120.253634; duration = 556; initialDepth = 642.051270; finalDepth = 641.238731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.1843739999999 # Actual altitude: 50.1843739999999 # Commanded vehicle depth: 641.238731 # Seafloor depth: -691.423105 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 118.442081 meters # Minimum depth: 692.051270 meters looking forward 200.000000 meters along route # Maximum depth: 693.334593 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.051270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343486; longitude = 120.254846; duration = 473; # abortOnTimeout = True; initialDepth = 642.059552; finalDepth = 642.051270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1843739999999 # Actual altitude: 50.1843739999999 # Commanded vehicle depth: 642.05127 # Seafloor depth: -692.051270 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 101.503443 meters # Minimum depth: 692.059552 meters looking forward 200.000000 meters along route # Maximum depth: 695.136635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.059552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.343896; longitude = 120.255907; duration = 406; initialDepth = 644.514576; finalDepth = 642.059552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.162286 # Actual altitude: 50.162286 # Commanded vehicle depth: 642.059552 # Seafloor depth: -692.221838 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.503305 meters # Minimum depth: 694.514576 meters looking forward 200.000000 meters along route # Maximum depth: 695.136635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 644.514576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344247; longitude = 120.256816; duration = 406; initialDepth = 643.165721; finalDepth = 644.514576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1940959999999 # Actual altitude: 50.1940959999999 # Commanded vehicle depth: 644.514576 # Seafloor depth: -694.708672 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.503167 meters # Minimum depth: 693.165721 meters looking forward 200.000000 meters along route # Maximum depth: 694.684565 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 643.165721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344598; longitude = 120.257725; duration = 406; initialDepth = 642.789408; finalDepth = 643.165721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.267471 # Actual altitude: 51.267471 # Commanded vehicle depth: 643.165721 # Seafloor depth: -694.433192 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.503029 meters # Minimum depth: 692.789408 meters looking forward 200.000000 meters along route # Maximum depth: 693.282553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 642.789408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.344950; longitude = 120.258634; duration = 406; initialDepth = 641.192865; finalDepth = 642.789408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.267471 # Actual altitude: 51.267471 # Commanded vehicle depth: 642.789408 # Seafloor depth: -693.112569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.502890 meters # Minimum depth: 691.192865 meters looking forward 200.000000 meters along route # Maximum depth: 693.282553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.192865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345301; longitude = 120.259543; duration = 406; initialDepth = 627.484898; finalDepth = 641.192865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.588425 # Actual altitude: 50.588425 # Commanded vehicle depth: 641.192865 # Seafloor depth: -691.781290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 118.436617 meters # Minimum depth: 677.484898 meters looking forward 200.000000 meters along route # Maximum depth: 691.388196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 627.484898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.345652; longitude = 120.260452; duration = 473; initialDepth = 620.206385; finalDepth = 627.484898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.4560349999999 # Actual altitude: 60.4560349999999 # Commanded vehicle depth: 627.484898 # Seafloor depth: -687.940933 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 136.030757 meters # Minimum depth: 670.206385 meters looking forward 200.000000 meters along route # Maximum depth: 680.658987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.206385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346062; longitude = 120.261513; duration = 544; # abortOnTimeout = True; initialDepth = 619.480128; finalDepth = 620.206385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4560349999999 # Actual altitude: 60.4560349999999 # Commanded vehicle depth: 620.206385 # Seafloor depth: -675.724442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 102.035531 meters # Minimum depth: 669.480128 meters looking forward 200.000000 meters along route # Maximum depth: 672.346207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 619.480128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346547; longitude = 120.262725; duration = 408; initialDepth = 620.909538; finalDepth = 619.480128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.518057 # Actual altitude: 55.518057 # Commanded vehicle depth: 619.480128 # Seafloor depth: -669.480128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.086477 meters # Minimum depth: 670.909538 meters looking forward 200.000000 meters along route # Maximum depth: 673.502798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.909538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.346910; longitude = 120.263634; duration = 408; initialDepth = 621.630150; finalDepth = 620.909538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.870528 # Actual altitude: 50.870528 # Commanded vehicle depth: 620.909538 # Seafloor depth: -671.780066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.984151 meters # Minimum depth: 671.630150 meters looking forward 200.000000 meters along route # Maximum depth: 673.504202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 621.630150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347274; longitude = 120.264544; duration = 407; initialDepth = 612.335112; finalDepth = 621.630150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.874052 # Actual altitude: 51.874052 # Commanded vehicle depth: 621.63015 # Seafloor depth: -673.504202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.035098 meters # Minimum depth: 662.335112 meters looking forward 200.000000 meters along route # Maximum depth: 671.630150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 612.335112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.347638; longitude = 120.265452; duration = 408; initialDepth = 606.929256; finalDepth = 612.335112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.279115 # Actual altitude: 55.279115 # Commanded vehicle depth: 612.335112 # Seafloor depth: -667.614227 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 102.034954 meters # Minimum depth: 656.929256 meters looking forward 200.000000 meters along route # Maximum depth: 664.997362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.929256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348001; longitude = 120.266361; duration = 408; initialDepth = 606.151551; finalDepth = 606.929256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.279115 # Actual altitude: 55.279115 # Commanded vehicle depth: 606.929256 # Seafloor depth: -658.325943 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 119.037809 meters # Minimum depth: 656.151551 meters looking forward 200.000000 meters along route # Maximum depth: 657.213413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 606.151551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348365; longitude = 120.267270; duration = 476; initialDepth = 603.707589; finalDepth = 606.151551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.396687 # Actual altitude: 51.396687 # Commanded vehicle depth: 606.151551 # Seafloor depth: -657.213413 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 170.584174 meters # Minimum depth: 653.707589 meters looking forward 200.000000 meters along route # Maximum depth: 656.151551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.707589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.348789; longitude = 120.268331; duration = 682; # abortOnTimeout = True; initialDepth = 603.289399; finalDepth = 603.707589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.803443 # Actual altitude: 51.803443 # Commanded vehicle depth: 603.707589 # Seafloor depth: -655.511032 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.309336 meters # Minimum depth: 653.289399 meters looking forward 200.000000 meters along route # Maximum depth: 654.196937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 603.289399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.349547; longitude = 120.269771; duration = 409; initialDepth = 599.952848; finalDepth = 603.289399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.803443 # Actual altitude: 51.803443 # Commanded vehicle depth: 603.289399 # Seafloor depth: -653.782952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.309160 meters # Minimum depth: 649.952848 meters looking forward 200.000000 meters along route # Maximum depth: 653.825304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.952848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350001; longitude = 120.270634; duration = 409; initialDepth = 599.918039; finalDepth = 599.952848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.668304 # Actual altitude: 52.668304 # Commanded vehicle depth: 599.952848 # Seafloor depth: -652.621152 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.308985 meters # Minimum depth: 649.918039 meters looking forward 200.000000 meters along route # Maximum depth: 651.915200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.918039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350456; longitude = 120.271498; duration = 409; initialDepth = 599.525942; finalDepth = 599.918039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.668304 # Actual altitude: 52.668304 # Commanded vehicle depth: 599.918039 # Seafloor depth: -649.918039 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.308810 meters # Minimum depth: 649.525942 meters looking forward 200.000000 meters along route # Maximum depth: 651.915200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.525942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.350911; longitude = 120.272362; duration = 409; initialDepth = 599.039501; finalDepth = 599.525942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.273832 # Actual altitude: 52.273832 # Commanded vehicle depth: 599.525942 # Seafloor depth: -651.799774 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 102.308635 meters # Minimum depth: 649.039501 meters looking forward 200.000000 meters along route # Maximum depth: 651.450364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.039501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351365; longitude = 120.273225; duration = 409; initialDepth = 599.039501; finalDepth = 599.039501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.273832 # Actual altitude: 52.273832 # Commanded vehicle depth: 599.039501 # Seafloor depth: -649.411096 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.689555 meters # Minimum depth: 649.039501 meters looking forward 200.000000 meters along route # Maximum depth: 649.963427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 599.039501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.351820; longitude = 120.274089; duration = 430; initialDepth = 597.662954; finalDepth = 599.039501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.617657 # Actual altitude: 50.617657 # Commanded vehicle depth: 599.039501 # Seafloor depth: -649.657158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.701334 meters # Minimum depth: 647.662954 meters looking forward 200.000000 meters along route # Maximum depth: 649.963427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.662954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352298; longitude = 120.274998; duration = 430; initialDepth = 597.662954; finalDepth = 597.662954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1314659999999 # Actual altitude: 52.1314659999999 # Commanded vehicle depth: 597.662954 # Seafloor depth: -649.794420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.701140 meters # Minimum depth: 647.662954 meters looking forward 200.000000 meters along route # Maximum depth: 650.647108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 597.662954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.352777; longitude = 120.275907; duration = 430; initialDepth = 567.808518; finalDepth = 597.662954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1314659999999 # Actual altitude: 52.1314659999999 # Commanded vehicle depth: 597.662954 # Seafloor depth: -647.974988 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.700947 meters # Minimum depth: 617.808518 meters looking forward 200.000000 meters along route # Maximum depth: 650.647108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.808518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353255; longitude = 120.276816; duration = 430; initialDepth = 567.808518; finalDepth = 567.808518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.565605 # Actual altitude: 80.565605 # Commanded vehicle depth: 567.808518 # Seafloor depth: -648.374123 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 107.700752 meters # Minimum depth: 617.808518 meters looking forward 200.000000 meters along route # Maximum depth: 630.484008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.808518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.353734; longitude = 120.277725; duration = 430; initialDepth = 571.750606; finalDepth = 567.808518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.565605 # Actual altitude: 80.565605 # Commanded vehicle depth: 567.808518 # Seafloor depth: -618.320618 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 143.581196 meters # Minimum depth: 621.750606 meters looking forward 200.000000 meters along route # Maximum depth: 630.484008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 571.750606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354212; longitude = 120.278634; duration = 574; initialDepth = 562.821901; finalDepth = 571.750606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.2286690000001 # Actual altitude: 55.2286690000001 # Commanded vehicle depth: 571.750606 # Seafloor depth: -626.979275 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 164.438544 meters # Minimum depth: 612.821901 meters looking forward 200.000000 meters along route # Maximum depth: 617.218094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 562.821901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.354850; longitude = 120.279846; duration = 657; # abortOnTimeout = True; initialDepth = 566.072493; finalDepth = 562.821901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2286690000001 # Actual altitude: 55.2286690000001 # Commanded vehicle depth: 562.821901 # Seafloor depth: -617.218094 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 147.978374 meters # Minimum depth: 616.072493 meters looking forward 200.000000 meters along route # Maximum depth: 621.780331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 566.072493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355313; longitude = 120.281361; duration = 591; initialDepth = 570.662841; finalDepth = 566.072493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3961929999999 # Actual altitude: 54.3961929999999 # Commanded vehicle depth: 566.072493 # Seafloor depth: -618.741718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.978150 meters # Minimum depth: 620.662841 meters looking forward 200.000000 meters along route # Maximum depth: 621.795083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.662841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.355729; longitude = 120.282725; duration = 591; initialDepth = 568.072689; finalDepth = 570.662841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.669225 # Actual altitude: 52.669225 # Commanded vehicle depth: 570.662841 # Seafloor depth: -621.795083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.977926 meters # Minimum depth: 618.072689 meters looking forward 200.000000 meters along route # Maximum depth: 620.662841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 568.072689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356145; longitude = 120.284089; duration = 591; initialDepth = 563.292618; finalDepth = 568.072689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.387459 # Actual altitude: 51.387459 # Commanded vehicle depth: 568.072689 # Seafloor depth: -619.460148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.977703 meters # Minimum depth: 613.292618 meters looking forward 200.000000 meters along route # Maximum depth: 618.072689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.292618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356561; longitude = 120.285452; duration = 591; initialDepth = 556.739291; finalDepth = 563.292618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7080350000001 # Actual altitude: 53.7080350000001 # Commanded vehicle depth: 563.292618 # Seafloor depth: -617.000653 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.977479 meters # Minimum depth: 606.739291 meters looking forward 200.000000 meters along route # Maximum depth: 613.292618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 556.739291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.356978; longitude = 120.286816; duration = 591; initialDepth = 557.628865; finalDepth = 556.739291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7080350000001 # Actual altitude: 53.7080350000001 # Commanded vehicle depth: 556.739291 # Seafloor depth: -608.805423 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.977255 meters # Minimum depth: 607.628865 meters looking forward 200.000000 meters along route # Maximum depth: 620.637573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.628865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357394; longitude = 120.288179; duration = 591; initialDepth = 567.631389; finalDepth = 557.628865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4602659999999 # Actual altitude: 53.4602659999999 # Commanded vehicle depth: 557.628865 # Seafloor depth: -611.089131 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 147.977033 meters # Minimum depth: 617.631389 meters looking forward 200.000000 meters along route # Maximum depth: 621.046508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 567.631389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.357810; longitude = 120.289543; duration = 591; initialDepth = 564.259157; finalDepth = 567.631389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4602659999999 # Actual altitude: 53.4602659999999 # Commanded vehicle depth: 567.631389 # Seafloor depth: -621.046508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 146.210680 meters # Minimum depth: 614.259157 meters looking forward 200.000000 meters along route # Maximum depth: 618.658066 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 564.259157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358226; longitude = 120.290907; duration = 584; initialDepth = 563.928722; finalDepth = 564.259157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.415119 # Actual altitude: 53.415119 # Commanded vehicle depth: 564.259157 # Seafloor depth: -616.988230 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.417211 meters # Minimum depth: 613.928722 meters looking forward 200.000000 meters along route # Maximum depth: 615.870904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 563.928722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358638; longitude = 120.292254; duration = 401; initialDepth = 559.428510; finalDepth = 563.928722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7290730000001 # Actual altitude: 52.7290730000001 # Commanded vehicle depth: 563.928722 # Seafloor depth: -615.870904 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 115.083103 meters # Minimum depth: 609.428510 meters looking forward 200.000000 meters along route # Maximum depth: 613.928722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 559.428510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.358920; longitude = 120.293179; duration = 460; initialDepth = 557.805882; finalDepth = 559.428510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.342221 # Actual altitude: 52.342221 # Commanded vehicle depth: 559.42851 # Seafloor depth: -611.770731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 86.180953 meters # Minimum depth: 607.805882 meters looking forward 200.000000 meters along route # Maximum depth: 610.155475 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 557.805882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359244; longitude = 120.294240; duration = 344; # abortOnTimeout = True; initialDepth = 554.862579; finalDepth = 557.805882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.342221 # Actual altitude: 52.342221 # Commanded vehicle depth: 557.805882 # Seafloor depth: -609.069229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.404798 meters # Minimum depth: 604.862579 meters looking forward 200.000000 meters along route # Maximum depth: 609.069229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 554.862579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359572; longitude = 120.294998; duration = 413; initialDepth = 550.488951; finalDepth = 554.862579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7221480000001 # Actual altitude: 52.7221480000001 # Commanded vehicle depth: 554.862579 # Seafloor depth: -607.584727 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.404640 meters # Minimum depth: 600.488951 meters looking forward 200.000000 meters along route # Maximum depth: 604.862579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 550.488951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.359966; longitude = 120.295907; duration = 413; initialDepth = 548.653529; finalDepth = 550.488951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7221480000001 # Actual altitude: 52.7221480000001 # Commanded vehicle depth: 550.488951 # Seafloor depth: -601.852028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.404482 meters # Minimum depth: 598.653529 meters looking forward 200.000000 meters along route # Maximum depth: 601.529268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 548.653529 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360360; longitude = 120.296816; duration = 413; initialDepth = 547.520889; finalDepth = 548.653529; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.363077 # Actual altitude: 51.363077 # Commanded vehicle depth: 548.653529 # Seafloor depth: -599.459206 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.404325 meters # Minimum depth: 597.520889 meters looking forward 200.000000 meters along route # Maximum depth: 599.001120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.520889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.360754; longitude = 120.297725; duration = 413; initialDepth = 544.240117; finalDepth = 547.520889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8056769999999 # Actual altitude: 50.8056769999999 # Commanded vehicle depth: 547.520889 # Seafloor depth: -598.225140 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.404168 meters # Minimum depth: 594.240117 meters looking forward 200.000000 meters along route # Maximum depth: 597.701576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.240117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361148; longitude = 120.298634; duration = 413; initialDepth = 532.984855; finalDepth = 544.240117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7828 # Actual altitude: 51.7828 # Commanded vehicle depth: 544.240117 # Seafloor depth: -596.022917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.404009 meters # Minimum depth: 582.984855 meters looking forward 200.000000 meters along route # Maximum depth: 594.502310 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.984855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361542; longitude = 120.299543; duration = 413; initialDepth = 530.918430; finalDepth = 532.984855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2785249999999 # Actual altitude: 58.2785249999999 # Commanded vehicle depth: 532.984855 # Seafloor depth: -591.263380 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.403853 meters # Minimum depth: 580.918430 meters looking forward 200.000000 meters along route # Maximum depth: 584.870990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.918430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.361936; longitude = 120.300452; duration = 413; initialDepth = 531.597649; finalDepth = 530.918430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.2785249999999 # Actual altitude: 58.2785249999999 # Commanded vehicle depth: 530.91843 # Seafloor depth: -580.918430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 104.666354 meters # Minimum depth: 581.597649 meters looking forward 200.000000 meters along route # Maximum depth: 583.721552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 531.597649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362330; longitude = 120.301361; duration = 418; initialDepth = 530.210076; finalDepth = 531.597649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1239029999999 # Actual altitude: 52.1239029999999 # Commanded vehicle depth: 531.597649 # Seafloor depth: -583.721552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 102.140877 meters # Minimum depth: 580.210076 meters looking forward 200.000000 meters along route # Maximum depth: 583.566401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.210076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.362729; longitude = 120.302281; duration = 408; initialDepth = 528.743413; finalDepth = 530.210076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1239029999999 # Actual altitude: 52.1239029999999 # Commanded vehicle depth: 530.210076 # Seafloor depth: -581.531249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.403380 meters # Minimum depth: 578.743413 meters looking forward 200.000000 meters along route # Maximum depth: 580.210076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.743413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363118; longitude = 120.303179; duration = 413; initialDepth = 528.743413; finalDepth = 528.743413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.321173 # Actual altitude: 51.321173 # Commanded vehicle depth: 528.743413 # Seafloor depth: -578.944402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.403222 meters # Minimum depth: 578.743413 meters looking forward 200.000000 meters along route # Maximum depth: 581.050889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.743413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363512; longitude = 120.304089; duration = 413; initialDepth = 524.758740; finalDepth = 528.743413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2983359999999 # Actual altitude: 51.2983359999999 # Commanded vehicle depth: 528.743413 # Seafloor depth: -580.041749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.403065 meters # Minimum depth: 574.758740 meters looking forward 200.000000 meters along route # Maximum depth: 581.050889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.758740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.363906; longitude = 120.304998; duration = 413; initialDepth = 522.083365; finalDepth = 524.758740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.19838 # Actual altitude: 54.19838 # Commanded vehicle depth: 524.75874 # Seafloor depth: -578.957120 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 103.402908 meters # Minimum depth: 572.083365 meters looking forward 200.000000 meters along route # Maximum depth: 575.015519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.083365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364300; longitude = 120.305907; duration = 413; initialDepth = 522.571640; finalDepth = 522.083365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.19838 # Actual altitude: 54.19838 # Commanded vehicle depth: 522.083365 # Seafloor depth: -572.083365 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 120.586576 meters # Minimum depth: 572.571640 meters looking forward 200.000000 meters along route # Maximum depth: 579.876629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.571640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.364694; longitude = 120.306816; duration = 482; initialDepth = 528.745247; finalDepth = 522.571640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.213229 # Actual altitude: 53.213229 # Commanded vehicle depth: 522.57164 # Seafloor depth: -575.784869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 91.381098 meters # Minimum depth: 578.745247 meters looking forward 200.000000 meters along route # Maximum depth: 580.137512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.745247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365153; longitude = 120.307876; duration = 365; # abortOnTimeout = True; initialDepth = 528.822536; finalDepth = 528.745247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.213229 # Actual altitude: 53.213229 # Commanded vehicle depth: 528.745247 # Seafloor depth: -580.137512 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.593601 meters # Minimum depth: 578.822536 meters looking forward 200.000000 meters along route # Maximum depth: 579.975301 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.822536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.365580; longitude = 120.308634; duration = 438; initialDepth = 528.112509; finalDepth = 528.822536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3922650000001 # Actual altitude: 51.3922650000001 # Commanded vehicle depth: 528.822536 # Seafloor depth: -579.124028 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.593394 meters # Minimum depth: 578.112509 meters looking forward 200.000000 meters along route # Maximum depth: 578.831601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 528.112509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366093; longitude = 120.309543; duration = 438; initialDepth = 526.779929; finalDepth = 528.112509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.702913 # Actual altitude: 50.702913 # Commanded vehicle depth: 528.112509 # Seafloor depth: -578.815422 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.593188 meters # Minimum depth: 576.779929 meters looking forward 200.000000 meters along route # Maximum depth: 578.181695 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.779929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.366605; longitude = 120.310452; duration = 438; initialDepth = 524.831581; finalDepth = 526.779929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.702913 # Actual altitude: 50.702913 # Commanded vehicle depth: 526.779929 # Seafloor depth: -577.462332 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.592982 meters # Minimum depth: 574.831581 meters looking forward 200.000000 meters along route # Maximum depth: 576.875573 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 524.831581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367117; longitude = 120.311361; duration = 438; initialDepth = 522.330408; finalDepth = 524.831581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.290118 # Actual altitude: 51.290118 # Commanded vehicle depth: 524.831581 # Seafloor depth: -576.121699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 118.409116 meters # Minimum depth: 572.330408 meters looking forward 200.000000 meters along route # Maximum depth: 575.402233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.330408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.367630; longitude = 120.312270; duration = 473; initialDepth = 522.291563; finalDepth = 522.330408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.467131 # Actual altitude: 51.467131 # Commanded vehicle depth: 522.330408 # Seafloor depth: -573.797539 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.776230 meters # Minimum depth: 572.291563 meters looking forward 200.000000 meters along route # Maximum depth: 574.219068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 522.291563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368183; longitude = 120.313253; duration = 403; initialDepth = 519.430462; finalDepth = 522.291563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.467131 # Actual altitude: 51.467131 # Commanded vehicle depth: 522.291563 # Seafloor depth: -572.291563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 109.592363 meters # Minimum depth: 569.430462 meters looking forward 200.000000 meters along route # Maximum depth: 574.365527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.430462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.368654; longitude = 120.314089; duration = 438; initialDepth = 490.381315; finalDepth = 519.430462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.935065 # Actual altitude: 54.935065 # Commanded vehicle depth: 519.430462 # Seafloor depth: -574.365527 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 146.151282 meters # Minimum depth: 540.381315 meters looking forward 200.000000 meters along route # Maximum depth: 569.430462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.381315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369167; longitude = 120.314998; duration = 584; initialDepth = 485.452177; finalDepth = 490.381315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.4354510000001 # Actual altitude: 75.4354510000001 # Commanded vehicle depth: 490.381315 # Seafloor depth: -565.816766 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 146.541629 meters # Minimum depth: 535.452177 meters looking forward 200.000000 meters along route # Maximum depth: 545.759372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.452177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.369850; longitude = 120.316210; duration = 586; # abortOnTimeout = True; initialDepth = 495.759372; finalDepth = 485.452177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4354510000001 # Actual altitude: 75.4354510000001 # Commanded vehicle depth: 485.452177 # Seafloor depth: -539.408600 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 37.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 141.299600 meters # Minimum depth: 545.759372 meters looking forward 200.000000 meters along route # Maximum depth: 563.253431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 495.759372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.370910; longitude = 120.315361; duration = 565; initialDepth = 508.807049; finalDepth = 495.759372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.956423 # Actual altitude: 53.956423 # Commanded vehicle depth: 495.759372 # Seafloor depth: -548.077112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 109.940061 meters # Minimum depth: 558.807049 meters looking forward 200.000000 meters along route # Maximum depth: 570.660901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 508.807049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.371933; longitude = 120.314543; duration = 439; initialDepth = 516.173542; finalDepth = 508.807049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.944236 # Actual altitude: 54.944236 # Commanded vehicle depth: 508.807049 # Seafloor depth: -563.751285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 125.619286 meters # Minimum depth: 566.173542 meters looking forward 200.000000 meters along route # Maximum depth: 580.665520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 516.173542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.372729; longitude = 120.313906; duration = 502; initialDepth = 527.644111; finalDepth = 516.173542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.049631 # Actual altitude: 58.049631 # Commanded vehicle depth: 516.173542 # Seafloor depth: -574.223173 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 104.635801 meters # Minimum depth: 577.644111 meters looking forward 200.000000 meters along route # Maximum depth: 581.108366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.644111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.373638; longitude = 120.313179; duration = 418; initialDepth = 518.349985; finalDepth = 527.644111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.049631 # Actual altitude: 58.049631 # Commanded vehicle depth: 527.644111 # Seafloor depth: -580.668072 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 169.590055 meters # Minimum depth: 568.349985 meters looking forward 200.000000 meters along route # Maximum depth: 580.776967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.349985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.374395; longitude = 120.312573; duration = 678; # abortOnTimeout = True; initialDepth = 502.865829; finalDepth = 518.349985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5271660000001 # Actual altitude: 61.5271660000001 # Commanded vehicle depth: 518.349985 # Seafloor depth: -579.877151 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.731340 meters # Minimum depth: 552.865829 meters looking forward 200.000000 meters along route # Maximum depth: 568.349985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 502.865829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.375910; longitude = 120.312348; duration = 406; initialDepth = 440.478211; finalDepth = 502.865829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4036 # Actual altitude: 63.4036 # Commanded vehicle depth: 502.865829 # Seafloor depth: -566.269429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731326 meters # Minimum depth: 490.478211 meters looking forward 200.000000 meters along route # Maximum depth: 557.723396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.478211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.376820; longitude = 120.312213; duration = 406; initialDepth = 392.794752; finalDepth = 440.478211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.539677 # Actual altitude: 81.539677 # Commanded vehicle depth: 440.478211 # Seafloor depth: -522.017888 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731311 meters # Minimum depth: 442.794752 meters looking forward 200.000000 meters along route # Maximum depth: 490.478211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.794752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.377729; longitude = 120.312077; duration = 406; initialDepth = 348.841754; finalDepth = 392.794752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.539677 # Actual altitude: 81.539677 # Commanded vehicle depth: 392.794752 # Seafloor depth: -464.449436 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731295 meters # Minimum depth: 398.841754 meters looking forward 200.000000 meters along route # Maximum depth: 442.794752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.841754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.378638; longitude = 120.311942; duration = 406; initialDepth = 335.820354; finalDepth = 348.841754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.212706 # Actual altitude: 76.212706 # Commanded vehicle depth: 348.841754 # Seafloor depth: -425.054460 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731281 meters # Minimum depth: 385.820354 meters looking forward 200.000000 meters along route # Maximum depth: 410.109297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.820354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.379547; longitude = 120.311807; duration = 406; initialDepth = 317.378683; finalDepth = 335.820354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.212706 # Actual altitude: 76.212706 # Commanded vehicle depth: 335.820354 # Seafloor depth: -397.180312 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 38.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731266 meters # Minimum depth: 367.378683 meters looking forward 200.000000 meters along route # Maximum depth: 385.820354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.378683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.380456; longitude = 120.311672; duration = 406; initialDepth = 302.334443; finalDepth = 317.378683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.359958 # Actual altitude: 61.359958 # Commanded vehicle depth: 317.378683 # Seafloor depth: -376.008464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731250 meters # Minimum depth: 352.334443 meters looking forward 200.000000 meters along route # Maximum depth: 367.378683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.334443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.381365; longitude = 120.311537; duration = 406; initialDepth = 288.914484; finalDepth = 302.334443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.629781 # Actual altitude: 58.629781 # Commanded vehicle depth: 302.334443 # Seafloor depth: -359.574402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731235 meters # Minimum depth: 338.914484 meters looking forward 200.000000 meters along route # Maximum depth: 352.334443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 288.914484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.382274; longitude = 120.311402; duration = 406; initialDepth = 276.356003; finalDepth = 288.914484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.239959 # Actual altitude: 57.239959 # Commanded vehicle depth: 288.914484 # Seafloor depth: -345.486877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731221 meters # Minimum depth: 326.356003 meters looking forward 200.000000 meters along route # Maximum depth: 341.536431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.356003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.383183; longitude = 120.311267; duration = 406; initialDepth = 264.389209; finalDepth = 276.356003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.572393 # Actual altitude: 56.572393 # Commanded vehicle depth: 276.356003 # Seafloor depth: -332.549509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731205 meters # Minimum depth: 314.389209 meters looking forward 200.000000 meters along route # Maximum depth: 326.356003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.389209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.384092; longitude = 120.311132; duration = 406; initialDepth = 251.053870; finalDepth = 264.389209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.193506 # Actual altitude: 56.193506 # Commanded vehicle depth: 264.389209 # Seafloor depth: -320.306203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731191 meters # Minimum depth: 301.053870 meters looking forward 200.000000 meters along route # Maximum depth: 314.389209 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.053870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.385001; longitude = 120.310996; duration = 406; initialDepth = 241.720888; finalDepth = 251.053870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.539573 # Actual altitude: 57.539573 # Commanded vehicle depth: 251.05387 # Seafloor depth: -308.593443 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731175 meters # Minimum depth: 291.720888 meters looking forward 200.000000 meters along route # Maximum depth: 302.895351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.720888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.385910; longitude = 120.310861; duration = 406; initialDepth = 230.695027; finalDepth = 241.720888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.539573 # Actual altitude: 57.539573 # Commanded vehicle depth: 241.720888 # Seafloor depth: -297.276496 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731160 meters # Minimum depth: 280.695027 meters looking forward 200.000000 meters along route # Maximum depth: 291.720888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.695027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.386820; longitude = 120.310726; duration = 406; initialDepth = 219.653752; finalDepth = 230.695027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.555608 # Actual altitude: 55.555608 # Commanded vehicle depth: 230.695027 # Seafloor depth: -286.201845 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731146 meters # Minimum depth: 269.653752 meters looking forward 200.000000 meters along route # Maximum depth: 280.695027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.653752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.387729; longitude = 120.310591; duration = 406; initialDepth = 208.517062; finalDepth = 219.653752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.528692 # Actual altitude: 55.528692 # Commanded vehicle depth: 219.653752 # Seafloor depth: -275.182444 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731130 meters # Minimum depth: 258.517062 meters looking forward 200.000000 meters along route # Maximum depth: 269.653752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.517062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.388638; longitude = 120.310456; duration = 406; initialDepth = 197.213902; finalDepth = 208.517062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.578409 # Actual altitude: 55.578409 # Commanded vehicle depth: 208.517062 # Seafloor depth: -264.095471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731115 meters # Minimum depth: 247.213902 meters looking forward 200.000000 meters along route # Maximum depth: 258.517062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.213902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.389547; longitude = 120.310321; duration = 406; initialDepth = 185.687087; finalDepth = 197.213902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.67951 # Actual altitude: 55.67951 # Commanded vehicle depth: 197.213902 # Seafloor depth: -252.893412 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731100 meters # Minimum depth: 235.687087 meters looking forward 200.000000 meters along route # Maximum depth: 247.213902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.687087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.390456; longitude = 120.310186; duration = 406; initialDepth = 174.013859; finalDepth = 185.687087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.786445 # Actual altitude: 55.786445 # Commanded vehicle depth: 185.687087 # Seafloor depth: -241.473532 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731085 meters # Minimum depth: 224.013859 meters looking forward 200.000000 meters along route # Maximum depth: 235.687087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.013859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.391365; longitude = 120.310050; duration = 406; initialDepth = 162.273211; finalDepth = 174.013859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.852628 # Actual altitude: 55.852628 # Commanded vehicle depth: 174.013859 # Seafloor depth: -229.866487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731070 meters # Minimum depth: 212.273211 meters looking forward 200.000000 meters along route # Maximum depth: 225.287502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.273211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.392274; longitude = 120.309915; duration = 406; initialDepth = 150.522049; finalDepth = 162.273211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.872018 # Actual altitude: 55.872018 # Commanded vehicle depth: 162.273211 # Seafloor depth: -218.145229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731055 meters # Minimum depth: 200.522049 meters looking forward 200.000000 meters along route # Maximum depth: 212.273211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.522049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.393183; longitude = 120.309780; duration = 406; initialDepth = 135.702849; finalDepth = 150.522049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.878598 # Actual altitude: 55.878598 # Commanded vehicle depth: 150.522049 # Seafloor depth: -206.400647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731040 meters # Minimum depth: 185.702849 meters looking forward 200.000000 meters along route # Maximum depth: 200.522049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.702849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.394092; longitude = 120.309645; duration = 406; initialDepth = 126.861418; finalDepth = 135.702849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.932073 # Actual altitude: 58.932073 # Commanded vehicle depth: 135.702849 # Seafloor depth: -194.634922 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731026 meters # Minimum depth: 176.861418 meters looking forward 200.000000 meters along route # Maximum depth: 188.733450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.861418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.395001; longitude = 120.309510; duration = 406; initialDepth = 114.777986; finalDepth = 126.861418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.932073 # Actual altitude: 58.932073 # Commanded vehicle depth: 126.861418 # Seafloor depth: -182.811650 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.731009 meters # Minimum depth: 164.777986 meters looking forward 200.000000 meters along route # Maximum depth: 176.861418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.777986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.395910; longitude = 120.309375; duration = 406; initialDepth = 102.411131; finalDepth = 114.777986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.075668 # Actual altitude: 56.075668 # Commanded vehicle depth: 114.777986 # Seafloor depth: -170.853654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730995 meters # Minimum depth: 152.411131 meters looking forward 200.000000 meters along route # Maximum depth: 164.777986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.411131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.396820; longitude = 120.309240; duration = 406; initialDepth = 89.815360; finalDepth = 102.411131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.22056 # Actual altitude: 56.22056 # Commanded vehicle depth: 102.411131 # Seafloor depth: -158.631691 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730980 meters # Minimum depth: 139.815360 meters looking forward 200.000000 meters along route # Maximum depth: 152.411131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.815360 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.397729; longitude = 120.309105; duration = 406; initialDepth = 77.126964; finalDepth = 89.815360; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.309226 # Actual altitude: 56.309226 # Commanded vehicle depth: 89.81536 # Seafloor depth: -146.124586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730965 meters # Minimum depth: 127.126964 meters looking forward 200.000000 meters along route # Maximum depth: 144.615934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.126964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.398638; longitude = 120.308969; duration = 406; initialDepth = 65.112824; finalDepth = 77.126964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.348149 # Actual altitude: 56.348149 # Commanded vehicle depth: 77.126964 # Seafloor depth: -133.475113 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730950 meters # Minimum depth: 115.112824 meters looking forward 200.000000 meters along route # Maximum depth: 127.126964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.112824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.399547; longitude = 120.308834; duration = 406; initialDepth = 61.447573; finalDepth = 65.112824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.348149 # Actual altitude: 56.348149 # Commanded vehicle depth: 65.112824 # Seafloor depth: -120.861401 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730935 meters # Minimum depth: 111.447573 meters looking forward 200.000000 meters along route # Maximum depth: 115.112824 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.447573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.400456; longitude = 120.308699; duration = 406; initialDepth = 60.144559; finalDepth = 61.447573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.748577 # Actual altitude: 55.748577 # Commanded vehicle depth: 61.447573 # Seafloor depth: -112.600716 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730920 meters # Minimum depth: 110.144559 meters looking forward 200.000000 meters along route # Maximum depth: 111.488167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.144559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.401365; longitude = 120.308564; duration = 406; initialDepth = 58.703444; finalDepth = 60.144559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.153143 # Actual altitude: 51.153143 # Commanded vehicle depth: 60.144559 # Seafloor depth: -110.331061 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730905 meters # Minimum depth: 108.703444 meters looking forward 200.000000 meters along route # Maximum depth: 110.144559 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.703444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.402274; longitude = 120.308429; duration = 406; initialDepth = 55.775022; finalDepth = 58.703444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.864119 # Actual altitude: 50.864119 # Commanded vehicle depth: 58.703444 # Seafloor depth: -109.567563 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730889 meters # Minimum depth: 105.775022 meters looking forward 200.000000 meters along route # Maximum depth: 108.703444 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.775022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.403183; longitude = 120.308294; duration = 406; initialDepth = 54.198481; finalDepth = 55.775022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.988598 # Actual altitude: 51.988598 # Commanded vehicle depth: 55.775022 # Seafloor depth: -107.763620 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730875 meters # Minimum depth: 104.198481 meters looking forward 200.000000 meters along route # Maximum depth: 106.607031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.198481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.404092; longitude = 120.308159; duration = 406; initialDepth = 51.526356; finalDepth = 54.198481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.988598 # Actual altitude: 51.988598 # Commanded vehicle depth: 54.198481 # Seafloor depth: -105.407492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.730860 meters # Minimum depth: 101.526356 meters looking forward 200.000000 meters along route # Maximum depth: 104.198481 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.526356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.405001; longitude = 120.308023; duration = 406; initialDepth = 46.727520; finalDepth = 51.526356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.405449 # Actual altitude: 51.405449 # Commanded vehicle depth: 51.526356 # Seafloor depth: -102.931805 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 123.037194 meters # Minimum depth: 96.727520 meters looking forward 200.000000 meters along route # Maximum depth: 101.526356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.727520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.405910; longitude = 120.307888; duration = 492; initialDepth = 41.770942; finalDepth = 46.727520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.272566 # Actual altitude: 53.272566 # Commanded vehicle depth: 46.72752 # Seafloor depth: -100.000086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 114.372010 meters # Minimum depth: 91.770942 meters looking forward 200.000000 meters along route # Maximum depth: 98.391640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.770942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 22.407010; longitude = 120.307725; duration = 457; initialDepth = 40.830282; finalDepth = 41.770942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.204871 # Actual altitude: 54.204871 # Commanded vehicle depth: 41.770942 # Seafloor depth: -95.975813 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 54.204871 # Sonar parameter altitude: 54.204871 # Commanded vehicle depth: 40.830282 # Seafloor depth: -90.830282 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 90.830282 meters looking forward 200.000000 meters along route # Maximum depth: 98.391640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 748.336442 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.830282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 22.408032; longitude = 120.307573; duration = 600; depth = 40.830282; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 142.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 142.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 30; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################