# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 201210_WallTest_1v2.rte # Mission File: 201210_WallTest_1v2.cfg # Distance: 10501.484285 (m) # Estimated Time: 8865 (s) 2.463 (hr) # Abort Time: 11525 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1177 (s) # Way Points: 26 # Route Points: 100 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control 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: 25 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 13 (m) # Desired Vehicle Altitude 1: 25 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 75 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 982.148671 (m) # Abort Vehicle Depth: 994.648671 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.969798 36.800379 -100.014852 0.000000 3 # 1 -121.984601 36.775992 -790.414108 3010.676223 1 # 2 -121.987772 36.773956 -932.064535 3372.815061 3 # 3 -121.992553 36.773648 -931.229797 3800.850886 1 # 4 -121.999758 36.773798 -966.801712 4444.096977 1 # 5 -122.003192 36.774099 -977.229477 4752.386734 1 # 6 -122.005133 36.774429 -984.006149 4929.441668 1 # 7 -122.007261 36.775150 -989.483429 5135.515115 1 # 8 -122.010919 36.777524 -994.986343 5554.965086 3 # 9 -122.008269 36.778756 -983.897705 5828.112636 1 # 10 -121.996174 36.779657 -812.080643 6912.105706 1 # 11 -121.994718 36.778576 -830.279938 7088.926564 1 # 12 -121.993262 36.777584 -836.892670 7259.206768 1 # 13 -121.991209 36.777254 -843.043045 7446.045868 1 # 14 -121.989454 36.776953 -858.530563 7606.189387 1 # 15 -121.987630 36.775926 -899.300456 7804.855013 1 # 16 -121.987630 36.774719 -930.432617 7938.826629 5 # 17 -121.989677 36.773829 -931.357340 8146.438475 1 # 18 -121.992553 36.773648 -931.229797 8403.887361 1 # 19 -121.996248 36.773738 -951.224960 8733.809550 1 # 20 -121.999758 36.773798 -966.801712 9047.139939 1 # 21 -122.003192 36.774099 -977.229477 9355.429696 1 # 22 -122.005133 36.774429 -984.006149 9532.484630 1 # 23 -122.007261 36.775150 -989.483429 9738.558077 1 # 24 -122.010919 36.777524 -994.986343 10158.008048 1 # 25 -122.008047 36.779585 -981.326742 10501.484285 6 # # A total of 100 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 11525; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 982.148671; abortDepth = 994.648671; minAltitude = 25.000000; abortAltitude = 12.000000; deltaDepthRestart = 13.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1177; 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; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 141.152917 meters # Minimum depth: 981.326742 meters looking forward 100.000000 meters along route # Maximum depth: 994.533637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 931.326742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779585; longitude = -122.008047; duration = 282; # abortOnTimeout = True; initialDepth = 944.368750; finalDepth = 931.326742; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 101.845021 meters # Minimum depth: 994.368750 meters looking forward 100.000000 meters along route # Maximum depth: 994.996148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.368750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778738; longitude = -122.009227; duration = 203; initialDepth = 944.662604; finalDepth = 944.368750; speed = 1.500000; } # # # # Waypoint_depth behavior during line 25 # Segment length 100.478299 meters # Minimum depth: 994.662604 meters looking forward 100.000000 meters along route # Maximum depth: 995.080258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.662604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778127; longitude = -122.010079; duration = 200; initialDepth = 943.904752; finalDepth = 944.662604; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 116.899576 meters # Minimum depth: 993.904752 meters looking forward 100.000000 meters along route # Maximum depth: 995.192277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 943.904752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.010919; duration = 233; # abortOnTimeout = True; initialDepth = 919.088397; finalDepth = 943.904752; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.222388 meters # Minimum depth: 969.088397 meters looking forward 100.000000 meters along route # Maximum depth: 996.133859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 919.088397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776862; longitude = -122.009900; duration = 200; initialDepth = 942.863557; finalDepth = 919.088397; speed = 1.500000; } # # # # Waypoint_depth behavior during line 24 # Segment length 100.222849 meters # Minimum depth: 992.863557 meters looking forward 100.000000 meters along route # Maximum depth: 994.910101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 942.863557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776295; longitude = -122.009025; duration = 200; initialDepth = 939.478137; finalDepth = 942.863557; speed = 1.500000; } # # # # Waypoint_depth behavior during line 24 # Segment length 102.105158 meters # Minimum depth: 989.478137 meters looking forward 100.000000 meters along route # Maximum depth: 994.234719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 939.478137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775728; longitude = -122.008151; duration = 204; initialDepth = 937.617299; finalDepth = 939.478137; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 104.754043 meters # Minimum depth: 987.617299 meters looking forward 100.000000 meters along route # Maximum depth: 990.196532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 937.617299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775150; longitude = -122.007261; duration = 209; # abortOnTimeout = True; initialDepth = 934.097111; finalDepth = 937.617299; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 101.319404 meters # Minimum depth: 984.097111 meters looking forward 100.000000 meters along route # Maximum depth: 987.441722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 934.097111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774783; longitude = -122.006179; duration = 202; initialDepth = 931.290082; finalDepth = 934.097111; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 76.283508 meters # Minimum depth: 981.290082 meters looking forward 100.000000 meters along route # Maximum depth: 986.042205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 931.290082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774429; longitude = -122.005133; duration = 152; # abortOnTimeout = True; initialDepth = 926.960981; finalDepth = 931.290082; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 100.771426 meters # Minimum depth: 976.960981 meters looking forward 100.000000 meters along route # Maximum depth: 981.561153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 926.960981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774287; longitude = -122.004297; duration = 201; initialDepth = 918.918987; finalDepth = 926.960981; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 106.044115 meters # Minimum depth: 968.918987 meters looking forward 100.000000 meters along route # Maximum depth: 977.731936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 918.918987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774099; longitude = -122.003192; duration = 212; # abortOnTimeout = True; initialDepth = 916.905085; finalDepth = 918.918987; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.598927 meters # Minimum depth: 966.905085 meters looking forward 100.000000 meters along route # Maximum depth: 973.581677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.905085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773995; longitude = -122.002011; duration = 201; initialDepth = 916.845026; finalDepth = 916.905085; speed = 1.500000; } # # # # Waypoint_depth behavior during line 21 # Segment length 101.646715 meters # Minimum depth: 966.845026 meters looking forward 100.000000 meters along route # Maximum depth: 969.634313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.845026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773897; longitude = -122.000890; duration = 203; initialDepth = 912.764822; finalDepth = 916.845026; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 112.992346 meters # Minimum depth: 962.764822 meters looking forward 100.000000 meters along route # Maximum depth: 966.801712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 912.764822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773798; longitude = -121.999758; duration = 225; # abortOnTimeout = True; initialDepth = 909.249234; finalDepth = 912.764822; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 100.029925 meters # Minimum depth: 959.249234 meters looking forward 100.000000 meters along route # Maximum depth: 962.676962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 909.249234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773776; longitude = -121.998492; duration = 200; initialDepth = 897.035329; finalDepth = 909.249234; speed = 1.500000; } # # # # Waypoint_depth behavior during line 20 # Segment length 100.308118 meters # Minimum depth: 947.035329 meters looking forward 100.000000 meters along route # Maximum depth: 959.163523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 897.035329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773757; longitude = -121.997372; duration = 200; initialDepth = 896.825528; finalDepth = 897.035329; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 129.791062 meters # Minimum depth: 946.825528 meters looking forward 100.000000 meters along route # Maximum depth: 965.466989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 896.825528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773738; longitude = -121.996248; duration = 259; # abortOnTimeout = True; initialDepth = 898.318498; finalDepth = 896.825528; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.053352 meters # Minimum depth: 948.318498 meters looking forward 100.000000 meters along route # Maximum depth: 957.356484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 898.318498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773703; longitude = -121.994794; duration = 200; initialDepth = 881.012617; finalDepth = 898.318498; speed = 1.500000; } # # # # Waypoint_depth behavior during line 19 # Segment length 100.077775 meters # Minimum depth: 931.012617 meters looking forward 100.000000 meters along route # Maximum depth: 948.215266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 881.012617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773675; longitude = -121.993674; duration = 200; initialDepth = 870.258819; finalDepth = 881.012617; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 156.465900 meters # Minimum depth: 920.258819 meters looking forward 100.000000 meters along route # Maximum depth: 936.957833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 870.258819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773648; longitude = -121.992553; duration = 312; # abortOnTimeout = True; initialDepth = 878.566631; finalDepth = 870.258819; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.982986 meters # Minimum depth: 928.566631 meters looking forward 100.000000 meters along route # Maximum depth: 931.238573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 878.566631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773758; longitude = -121.990805; duration = 201; initialDepth = 881.357340; finalDepth = 878.566631; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 106.079266 meters # Minimum depth: 931.357340 meters looking forward 100.000000 meters along route # Maximum depth: 938.825317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 881.357340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773829; longitude = -121.989677; duration = 212; # abortOnTimeout = True; initialDepth = 880.716032; finalDepth = 881.357340; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 101.532580 meters # Minimum depth: 930.716032 meters looking forward 100.000000 meters along route # Maximum depth: 938.948514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 880.716032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774284; longitude = -121.988631; duration = 203; initialDepth = 849.916972; finalDepth = 880.716032; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 133.971616 meters # Minimum depth: 899.916972 meters looking forward 100.000000 meters along route # Maximum depth: 930.432617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 849.916972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774719; longitude = -121.987630; duration = 267; # abortOnTimeout = True; initialDepth = 858.021393; finalDepth = 849.916972; speed = 1.500000; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 96.840549 meters # Minimum depth: 883.021393 meters looking forward 100.000000 meters along route # Maximum depth: 899.916972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 858.021393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775926; longitude = -121.987630; duration = 193; # abortOnTimeout = True; initialDepth = 834.011963; finalDepth = 858.021393; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 101.825077 meters # Minimum depth: 859.011963 meters looking forward 100.000000 meters along route # Maximum depth: 888.571510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 834.011963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776427; longitude = -121.988519; duration = 203; initialDepth = 809.072541; finalDepth = 834.011963; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 160.143519 meters # Minimum depth: 834.072541 meters looking forward 100.000000 meters along route # Maximum depth: 858.530563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 809.072541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776953; longitude = -121.989454; duration = 320; # abortOnTimeout = True; initialDepth = 816.720029; finalDepth = 809.072541; speed = 1.500000; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 85.626818 meters # Minimum depth: 841.720029 meters looking forward 100.000000 meters along route # Maximum depth: 852.592966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 816.720029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777254; longitude = -121.991209; duration = 171; # abortOnTimeout = True; initialDepth = 811.586626; finalDepth = 816.720029; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.212282 meters # Minimum depth: 836.586626 meters looking forward 100.000000 meters along route # Maximum depth: 847.994345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 811.586626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777405; longitude = -121.992150; duration = 202; initialDepth = 805.485408; finalDepth = 811.586626; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 170.280204 meters # Minimum depth: 830.485408 meters looking forward 100.000000 meters along route # Maximum depth: 836.892670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 805.485408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777584; longitude = -121.993262; duration = 340; # abortOnTimeout = True; initialDepth = 787.188791; finalDepth = 805.485408; speed = 1.500000; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 176.820858 meters # Minimum depth: 812.188791 meters looking forward 100.000000 meters along route # Maximum depth: 830.279938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 787.188791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778576; longitude = -121.994718; duration = 353; # abortOnTimeout = True; initialDepth = 787.080643; finalDepth = 787.188791; speed = 1.500000; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 79.420467 meters # Minimum depth: 812.080643 meters looking forward 100.000000 meters along route # Maximum depth: 831.729361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 787.080643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779657; longitude = -121.996174; duration = 158; # abortOnTimeout = True; initialDepth = 806.777305; finalDepth = 787.080643; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 100.226512 meters # Minimum depth: 831.777305 meters looking forward 100.000000 meters along route # Maximum depth: 850.694743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 806.777305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779591; longitude = -121.997060; duration = 200; initialDepth = 820.457724; finalDepth = 806.777305; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.427813 meters # Minimum depth: 845.457724 meters looking forward 100.000000 meters along route # Maximum depth: 852.060136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 820.457724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779508; longitude = -121.998178; duration = 200; initialDepth = 818.495743; finalDepth = 820.457724; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.427899 meters # Minimum depth: 843.495743 meters looking forward 100.000000 meters along route # Maximum depth: 848.815672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 818.495743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779424; longitude = -121.999299; duration = 200; initialDepth = 824.195546; finalDepth = 818.495743; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.427985 meters # Minimum depth: 849.195546 meters looking forward 100.000000 meters along route # Maximum depth: 882.058683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 824.195546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779341; longitude = -122.000420; duration = 200; initialDepth = 857.501471; finalDepth = 824.195546; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.428071 meters # Minimum depth: 882.501471 meters looking forward 100.000000 meters along route # Maximum depth: 902.457125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 857.501471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779257; longitude = -122.001540; duration = 200; initialDepth = 877.849616; finalDepth = 857.501471; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.428157 meters # Minimum depth: 902.849616 meters looking forward 100.000000 meters along route # Maximum depth: 918.650696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 877.849616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779174; longitude = -122.002661; duration = 200; initialDepth = 893.884131; finalDepth = 877.849616; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.428243 meters # Minimum depth: 918.884131 meters looking forward 100.000000 meters along route # Maximum depth: 929.666797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 893.884131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779090; longitude = -122.003781; duration = 200; initialDepth = 902.217986; finalDepth = 893.884131; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.428328 meters # Minimum depth: 927.217986 meters looking forward 100.000000 meters along route # Maximum depth: 941.813831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 902.217986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779007; longitude = -122.004902; duration = 200; initialDepth = 916.961578; finalDepth = 902.217986; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.428415 meters # Minimum depth: 941.961578 meters looking forward 100.000000 meters along route # Maximum depth: 960.269615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 916.961578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778923; longitude = -122.006022; duration = 200; initialDepth = 935.695893; finalDepth = 916.961578; speed = 1.500000; } # # # # Waypoint_depth behavior during line 10 # Segment length 100.921180 meters # Minimum depth: 960.695893 meters looking forward 100.000000 meters along route # Maximum depth: 983.737592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 935.695893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778840; longitude = -122.007143; duration = 201; initialDepth = 958.897705; finalDepth = 935.695893; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 172.684603 meters # Minimum depth: 983.897705 meters looking forward 100.000000 meters along route # Maximum depth: 995.277640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 958.897705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778756; longitude = -122.008269; duration = 345; # abortOnTimeout = True; initialDepth = 969.648671; finalDepth = 958.897705; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.462947 meters # Minimum depth: 994.648671 meters looking forward 100.000000 meters along route # Maximum depth: 995.375567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 969.648671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777977; longitude = -122.009944; duration = 200; initialDepth = 968.904752; finalDepth = 969.648671; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 116.899576 meters # Minimum depth: 993.904752 meters looking forward 100.000000 meters along route # Maximum depth: 995.192277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 968.904752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777524; longitude = -122.010919; duration = 233; # abortOnTimeout = True; initialDepth = 944.088397; finalDepth = 968.904752; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.222388 meters # Minimum depth: 969.088397 meters looking forward 100.000000 meters along route # Maximum depth: 996.133859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 944.088397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776862; longitude = -122.009900; duration = 200; initialDepth = 967.863557; finalDepth = 944.088397; speed = 1.500000; } # # # # Waypoint_depth behavior during line 8 # Segment length 100.222849 meters # Minimum depth: 992.863557 meters looking forward 100.000000 meters along route # Maximum depth: 994.910101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 967.863557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776295; longitude = -122.009025; duration = 200; initialDepth = 964.478137; finalDepth = 967.863557; speed = 1.500000; } # # # # Waypoint_depth behavior during line 8 # Segment length 102.105158 meters # Minimum depth: 989.478137 meters looking forward 100.000000 meters along route # Maximum depth: 994.234719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 964.478137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775728; longitude = -122.008151; duration = 204; initialDepth = 962.617299; finalDepth = 964.478137; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 104.754043 meters # Minimum depth: 987.617299 meters looking forward 100.000000 meters along route # Maximum depth: 990.196532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 962.617299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775150; longitude = -122.007261; duration = 209; # abortOnTimeout = True; initialDepth = 959.097111; finalDepth = 962.617299; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.319404 meters # Minimum depth: 984.097111 meters looking forward 100.000000 meters along route # Maximum depth: 987.441722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 959.097111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774783; longitude = -122.006179; duration = 202; initialDepth = 956.290082; finalDepth = 959.097111; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 76.283508 meters # Minimum depth: 981.290082 meters looking forward 100.000000 meters along route # Maximum depth: 986.042205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 956.290082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774429; longitude = -122.005133; duration = 152; # abortOnTimeout = True; initialDepth = 951.960981; finalDepth = 956.290082; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.771426 meters # Minimum depth: 976.960981 meters looking forward 100.000000 meters along route # Maximum depth: 981.561153 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 951.960981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774287; longitude = -122.004297; duration = 201; initialDepth = 943.918987; finalDepth = 951.960981; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 106.044115 meters # Minimum depth: 968.918987 meters looking forward 100.000000 meters along route # Maximum depth: 977.731936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 943.918987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774099; longitude = -122.003192; duration = 212; # abortOnTimeout = True; initialDepth = 941.905085; finalDepth = 943.918987; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.598927 meters # Minimum depth: 966.905085 meters looking forward 100.000000 meters along route # Maximum depth: 973.581677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 941.905085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773995; longitude = -122.002011; duration = 201; initialDepth = 941.845026; finalDepth = 941.905085; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 101.646715 meters # Minimum depth: 966.845026 meters looking forward 100.000000 meters along route # Maximum depth: 969.634313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 941.845026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773897; longitude = -122.000890; duration = 203; initialDepth = 936.921280; finalDepth = 941.845026; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 143.016918 meters # Minimum depth: 961.921280 meters looking forward 100.000000 meters along route # Maximum depth: 966.801712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 936.921280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773798; longitude = -121.999758; duration = 286; # abortOnTimeout = True; initialDepth = 929.962610; finalDepth = 936.921280; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.040858 meters # Minimum depth: 954.962610 meters looking forward 100.000000 meters along route # Maximum depth: 961.721254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 929.962610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773765; longitude = -121.998156; duration = 200; initialDepth = 920.118123; finalDepth = 929.962610; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 100.040910 meters # Minimum depth: 945.118123 meters looking forward 100.000000 meters along route # Maximum depth: 955.473464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 920.118123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773741; longitude = -121.997036; duration = 200; initialDepth = 920.912497; finalDepth = 920.118123; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 100.040962 meters # Minimum depth: 945.912497 meters looking forward 100.000000 meters along route # Maximum depth: 965.018826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 920.912497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773718; longitude = -121.995915; duration = 200; initialDepth = 923.202540; finalDepth = 920.912497; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 100.041015 meters # Minimum depth: 948.202540 meters looking forward 100.000000 meters along route # Maximum depth: 956.883479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 923.202540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773695; longitude = -121.994794; duration = 200; initialDepth = 906.012553; finalDepth = 923.202540; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 100.065428 meters # Minimum depth: 931.012553 meters looking forward 100.000000 meters along route # Maximum depth: 948.196115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 906.012553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773671; longitude = -121.993674; duration = 200; initialDepth = 895.490421; finalDepth = 906.012553; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 126.387248 meters # Minimum depth: 920.490421 meters looking forward 100.000000 meters along route # Maximum depth: 936.832202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 895.490421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773648; longitude = -121.992553; duration = 252; # abortOnTimeout = True; initialDepth = 903.585402; finalDepth = 895.490421; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.326649 meters # Minimum depth: 928.585402 meters looking forward 100.000000 meters along route # Maximum depth: 936.967499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 903.585402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773739; longitude = -121.991141; duration = 200; initialDepth = 904.117617; finalDepth = 903.585402; speed = 1.500000; } # # # # Waypoint_depth behavior during line 3 # Segment length 100.326578 meters # Minimum depth: 929.117617 meters looking forward 100.000000 meters along route # Maximum depth: 933.603995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 904.117617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773811; longitude = -121.990021; duration = 200; initialDepth = 907.123389; finalDepth = 904.117617; speed = 1.500000; } # # # # Waypoint_depth behavior during line 3 # Segment length 100.995350 meters # Minimum depth: 932.123389 meters looking forward 100.000000 meters along route # Maximum depth: 937.382402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 907.123389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773883; longitude = -121.988900; duration = 201; initialDepth = 867.376825; finalDepth = 907.123389; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 160.380387 meters # Minimum depth: 892.376825 meters looking forward 100.000000 meters along route # Maximum depth: 932.064535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 867.376825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773956; longitude = -121.987772; duration = 320; # abortOnTimeout = True; initialDepth = 822.367199; finalDepth = 867.376825; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.370223 meters # Minimum depth: 847.367199 meters looking forward 100.000000 meters along route # Maximum depth: 892.122934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 822.367199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774857; longitude = -121.986368; duration = 202; initialDepth = 765.657001; finalDepth = 822.367199; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 100.388228 meters # Minimum depth: 790.657001 meters looking forward 100.000000 meters along route # Maximum depth: 846.687298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 765.657001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775427; longitude = -121.985480; duration = 200; initialDepth = 730.484454; finalDepth = 765.657001; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 106.095282 meters # Minimum depth: 755.484454 meters looking forward 100.000000 meters along route # Maximum depth: 790.414108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 730.484454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775992; longitude = -121.984601; duration = 212; # abortOnTimeout = True; initialDepth = 696.946248; finalDepth = 730.484454; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.134941 meters # Minimum depth: 721.946248 meters looking forward 100.000000 meters along route # Maximum depth: 755.298210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 696.946248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776851; longitude = -121.984079; duration = 200; initialDepth = 673.245133; finalDepth = 696.946248; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.134759 meters # Minimum depth: 698.245133 meters looking forward 100.000000 meters along route # Maximum depth: 721.858252 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 673.245133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777662; longitude = -121.983587; duration = 200; initialDepth = 654.878034; finalDepth = 673.245133; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.134577 meters # Minimum depth: 679.878034 meters looking forward 100.000000 meters along route # Maximum depth: 698.189457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 654.878034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778474; longitude = -121.983095; duration = 200; initialDepth = 631.138560; finalDepth = 654.878034; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.222135 meters # Minimum depth: 656.138560 meters looking forward 100.000000 meters along route # Maximum depth: 679.863054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 631.138560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779285; longitude = -121.982602; duration = 200; initialDepth = 614.765385; finalDepth = 631.138560; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.046471 meters # Minimum depth: 639.765385 meters looking forward 100.000000 meters along route # Maximum depth: 656.119725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 614.765385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780096; longitude = -121.982110; duration = 200; initialDepth = 596.947441; finalDepth = 614.765385; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.134029 meters # Minimum depth: 621.947441 meters looking forward 100.000000 meters along route # Maximum depth: 639.593377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 596.947441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780907; longitude = -121.981618; duration = 200; initialDepth = 573.371395; finalDepth = 596.947441; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.133847 meters # Minimum depth: 598.371395 meters looking forward 100.000000 meters along route # Maximum depth: 621.478936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 573.371395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781718; longitude = -121.981125; duration = 200; initialDepth = 541.785300; finalDepth = 573.371395; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.133664 meters # Minimum depth: 566.785300 meters looking forward 100.000000 meters along route # Maximum depth: 597.734796 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 541.785300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782529; longitude = -121.980633; duration = 200; initialDepth = 505.474164; finalDepth = 541.785300; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.133482 meters # Minimum depth: 530.474164 meters looking forward 100.000000 meters along route # Maximum depth: 566.205165 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 505.474164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783340; longitude = -121.980141; duration = 200; initialDepth = 479.790947; finalDepth = 505.474164; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.133300 meters # Minimum depth: 504.790947 meters looking forward 100.000000 meters along route # Maximum depth: 529.829687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 479.790947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784151; longitude = -121.979649; duration = 200; initialDepth = 461.681703; finalDepth = 479.790947; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.133117 meters # Minimum depth: 486.681703 meters looking forward 100.000000 meters along route # Maximum depth: 504.389663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 461.681703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784962; longitude = -121.979156; duration = 200; initialDepth = 428.632541; finalDepth = 461.681703; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132935 meters # Minimum depth: 453.632541 meters looking forward 100.000000 meters along route # Maximum depth: 486.160056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 428.632541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785773; longitude = -121.978664; duration = 200; initialDepth = 384.331496; finalDepth = 428.632541; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132752 meters # Minimum depth: 409.331496 meters looking forward 100.000000 meters along route # Maximum depth: 452.737758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 384.331496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786584; longitude = -121.978172; duration = 200; initialDepth = 333.561059; finalDepth = 384.331496; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132570 meters # Minimum depth: 358.561059 meters looking forward 100.000000 meters along route # Maximum depth: 407.903264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 333.561059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787395; longitude = -121.977679; duration = 200; initialDepth = 310.720765; finalDepth = 333.561059; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132387 meters # Minimum depth: 335.720765 meters looking forward 100.000000 meters along route # Maximum depth: 357.109728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 310.720765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788206; longitude = -121.977187; duration = 200; initialDepth = 293.292074; finalDepth = 310.720765; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132205 meters # Minimum depth: 318.292074 meters looking forward 100.000000 meters along route # Maximum depth: 335.121547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 293.292074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789017; longitude = -121.976695; duration = 200; initialDepth = 274.733227; finalDepth = 293.292074; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.132023 meters # Minimum depth: 299.733227 meters looking forward 100.000000 meters along route # Maximum depth: 317.909017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 274.733227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789829; longitude = -121.976202; duration = 200; initialDepth = 255.401751; finalDepth = 274.733227; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.131840 meters # Minimum depth: 280.401751 meters looking forward 100.000000 meters along route # Maximum depth: 299.782886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 255.401751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790640; longitude = -121.975710; duration = 200; initialDepth = 235.617151; finalDepth = 255.401751; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.131658 meters # Minimum depth: 260.617151 meters looking forward 100.000000 meters along route # Maximum depth: 279.914150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 235.617151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791451; longitude = -121.975218; duration = 200; initialDepth = 213.780460; finalDepth = 235.617151; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.131476 meters # Minimum depth: 238.780460 meters looking forward 100.000000 meters along route # Maximum depth: 259.985358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 213.780460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792262; longitude = -121.974725; duration = 200; initialDepth = 191.532836; finalDepth = 213.780460; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.131293 meters # Minimum depth: 216.532836 meters looking forward 100.000000 meters along route # Maximum depth: 238.436935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 191.532836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793073; longitude = -121.974233; duration = 200; initialDepth = 172.163982; finalDepth = 191.532836; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.131110 meters # Minimum depth: 197.163982 meters looking forward 100.000000 meters along route # Maximum depth: 216.084256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 172.163982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793884; longitude = -121.973741; duration = 200; initialDepth = 154.937631; finalDepth = 172.163982; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130929 meters # Minimum depth: 179.937631 meters looking forward 100.000000 meters along route # Maximum depth: 196.876100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 154.937631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794695; longitude = -121.973248; duration = 200; initialDepth = 128.727051; finalDepth = 154.937631; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130746 meters # Minimum depth: 153.727051 meters looking forward 100.000000 meters along route # Maximum depth: 179.518690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 128.727051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795506; longitude = -121.972756; duration = 200; initialDepth = 102.162885; finalDepth = 128.727051; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130563 meters # Minimum depth: 127.162885 meters looking forward 100.000000 meters along route # Maximum depth: 153.360721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 102.162885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796317; longitude = -121.972264; duration = 200; initialDepth = 85.152167; finalDepth = 102.162885; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130381 meters # Minimum depth: 110.152167 meters looking forward 100.000000 meters along route # Maximum depth: 126.916430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 85.152167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797128; longitude = -121.971771; duration = 200; initialDepth = 79.482269; finalDepth = 85.152167; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130199 meters # Minimum depth: 104.482269 meters looking forward 100.000000 meters along route # Maximum depth: 110.141209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 79.482269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797939; longitude = -121.971279; duration = 200; initialDepth = 77.534605; finalDepth = 79.482269; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.130016 meters # Minimum depth: 102.534605 meters looking forward 100.000000 meters along route # Maximum depth: 104.419322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 77.534605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798750; longitude = -121.970787; duration = 200; initialDepth = 74.545397; finalDepth = 77.534605; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 100.871536 meters # Minimum depth: 99.545397 meters looking forward 100.000000 meters along route # Maximum depth: 102.558387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.545397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799561; longitude = -121.970294; duration = 201; initialDepth = 74.545397; finalDepth = 74.545397; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 99.545397 meters looking forward 100.000000 meters along route # Maximum depth: 102.558387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 982.148671 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 25.000000 meters # Behavior depth of 74.545397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800379; longitude = -121.969798; duration = 600; initialDepth = 74.545397; finalDepth = 74.545397; 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 = 10.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 25.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 10.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### #######################################################