# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # $Id r # # Mission Summary: # Route File: 20200622PatchTest_1v2.rte # Mission File: 20200622PatchTest_1v2.cfg # Distance: 12996 (m) 12.996 (km) # Estimated Time: 12641 (s) 3.511 (hr) # Abort Time: 18961 (s) 5.267 (hr) # Max battery life: 79200 (s) 22.000 (hr) # Safety margin: 900 (s) 0.250 (hr) # Time to first waypoint: 2000 (s) 0.556 (hr) # Descend time: 359 (s) 0.100 (hr) # Ascend time: 2140 (s) 0.595 (hr) # Way Points: 11 # Route Points: 230 # 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: 34 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 3.3e-05 usec # Multibeam minimum range fraction: 0.4 # 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: 15 (m) # Delta Depth Restart 1: 35 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 25 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1423.184953 (m) # Abort Vehicle Depth: 1448.184953 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # Maximum climb rate: 15 (degrees) # Time to first waypoint: 2000 (s) # 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 -122.068204 36.811610 -100.041733 0.000000 3 # 1 -122.084695 36.775413 -995.406097 4276.727302 2 # 2 -122.100366 36.751457 -1356.183431 7279.982988 3 # 3 -122.109992 36.739367 -1447.823730 8872.958133 3 # 4 -122.107380 36.742650 -1433.434733 9305.491672 5 # 5 -122.105962 36.744516 -1432.300130 9548.114604 5 # 6 -122.104395 36.746307 -1432.478353 9791.131078 3 # 7 -122.101112 36.750487 -1379.544108 10339.663682 3 # 8 -122.103500 36.742053 -1433.571940 11299.216902 3 # 9 -122.111186 36.745785 -1411.967448 12100.624632 3 # 10 -122.102604 36.741605 -1427.028971 12996.150467 4 # # A total of 230 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 18961; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1423.184953; abortDepth = 1448.184953; minAltitude = 50.000000; abortAltitude = 15.000000; deltaDepthRestart = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 2140; 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 edgetech { duration = 6; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; } behavior reson { duration = 6; MB_Power = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 63.967350 meters # Minimum depth: 1427.028971 meters looking forward 50.000000 meters along route # Maximum depth: 1432.538212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.028971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741605; longitude = -122.102604; duration = 255; # abortOnTimeout = True; initialDepth = 1382.557905; finalDepth = 1377.028971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1377.028971 # Seafloor depth: -1427.028971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 68.417044 meters # Minimum depth: 1432.557905 meters looking forward 50.000000 meters along route # Maximum depth: 1434.280899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.557905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741904; longitude = -122.103217; duration = 273; initialDepth = 1385.113861; finalDepth = 1382.557905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.557905 # Seafloor depth: -1432.557905 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 70.085530 meters # Minimum depth: 1435.113861 meters looking forward 50.000000 meters along route # Maximum depth: 1436.557764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.113861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742223; longitude = -122.103873; duration = 280; initialDepth = 1386.703756; finalDepth = 1385.113861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1385.113861 # Seafloor depth: -1435.113861 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 53.398348 meters # Minimum depth: 1436.703756 meters looking forward 50.000000 meters along route # Maximum depth: 1436.896979 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.703756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742550; longitude = -122.104544; duration = 213; initialDepth = 1385.839942; finalDepth = 1386.703756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1756829999999 # Actual altitude: 50.1756829999999 # Commanded vehicle depth: 1386.703756 # Seafloor depth: -1436.879439 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 63.410369 meters # Minimum depth: 1435.839942 meters looking forward 50.000000 meters along route # Maximum depth: 1436.668631 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.839942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742800; longitude = -122.105056; duration = 253; initialDepth = 1383.876272; finalDepth = 1385.839942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8286889999999 # Actual altitude: 50.8286889999999 # Commanded vehicle depth: 1385.839942 # Seafloor depth: -1436.668631 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 70.084931 meters # Minimum depth: 1433.876272 meters looking forward 50.000000 meters along route # Maximum depth: 1435.539420 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.876272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743095; longitude = -122.105664; duration = 280; initialDepth = 1381.111877; finalDepth = 1383.876272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6631480000001 # Actual altitude: 51.6631480000001 # Commanded vehicle depth: 1383.876272 # Seafloor depth: -1435.539420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 58.403937 meters # Minimum depth: 1431.111877 meters looking forward 50.000000 meters along route # Maximum depth: 1432.904148 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.111877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743423; longitude = -122.106335; duration = 233; initialDepth = 1377.491071; finalDepth = 1381.111877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.792271 # Actual altitude: 51.792271 # Commanded vehicle depth: 1381.111877 # Seafloor depth: -1432.904148 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 58.403780 meters # Minimum depth: 1427.491071 meters looking forward 50.000000 meters along route # Maximum depth: 1430.457886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.491071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743695; longitude = -122.106895; duration = 233; initialDepth = 1372.229266; finalDepth = 1377.491071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.966815 # Actual altitude: 52.966815 # Commanded vehicle depth: 1377.491071 # Seafloor depth: -1430.457886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 70.084331 meters # Minimum depth: 1422.229266 meters looking forward 50.000000 meters along route # Maximum depth: 1426.805882 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.229266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743968; longitude = -122.107455; duration = 280; initialDepth = 1367.888242; finalDepth = 1372.229266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5766160000001 # Actual altitude: 54.5766160000001 # Commanded vehicle depth: 1372.229266 # Seafloor depth: -1426.805882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 63.409438 meters # Minimum depth: 1417.888242 meters looking forward 50.000000 meters along route # Maximum depth: 1419.828679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.888242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744295; longitude = -122.108126; duration = 253; initialDepth = 1365.529310; finalDepth = 1367.888242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5766160000001 # Actual altitude: 54.5766160000001 # Commanded vehicle depth: 1367.888242 # Seafloor depth: -1419.828679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 53.397280 meters # Minimum depth: 1415.529310 meters looking forward 50.000000 meters along route # Maximum depth: 1417.314069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.529310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744591; longitude = -122.108734; duration = 213; initialDepth = 1364.749958; finalDepth = 1365.529310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940437 # Actual altitude: 51.940437 # Commanded vehicle depth: 1365.52931 # Seafloor depth: -1417.314069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 70.083730 meters # Minimum depth: 1414.749958 meters looking forward 50.000000 meters along route # Maximum depth: 1415.395869 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.749958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744840; longitude = -122.109246; duration = 280; initialDepth = 1362.769261; finalDepth = 1364.749958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7847590000001 # Actual altitude: 51.7847590000001 # Commanded vehicle depth: 1364.749958 # Seafloor depth: -1415.395869 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 70.083506 meters # Minimum depth: 1412.769261 meters looking forward 50.000000 meters along route # Maximum depth: 1413.551624 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.769261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745167; longitude = -122.109917; duration = 280; initialDepth = 1362.425456; finalDepth = 1362.769261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.782363 # Actual altitude: 50.782363 # Commanded vehicle depth: 1362.769261 # Seafloor depth: -1413.551624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 62.296261 meters # Minimum depth: 1412.425456 meters looking forward 50.000000 meters along route # Maximum depth: 1412.952031 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.425456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745494; longitude = -122.110589; duration = 249; initialDepth = 1361.967448; finalDepth = 1362.425456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.782363 # Actual altitude: 50.782363 # Commanded vehicle depth: 1362.425456 # Seafloor depth: -1412.952031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 38.902609 meters # Minimum depth: 1411.967448 meters looking forward 50.000000 meters along route # Maximum depth: 1412.436294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.967448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745785; longitude = -122.111186; duration = 155; # abortOnTimeout = True; initialDepth = 1362.652983; finalDepth = 1361.967448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5265750000001 # Actual altitude: 50.5265750000001 # Commanded vehicle depth: 1361.967448 # Seafloor depth: -1411.967448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 70.024871 meters # Minimum depth: 1412.652983 meters looking forward 50.000000 meters along route # Maximum depth: 1412.961880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.652983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745604; longitude = -122.110813; duration = 280; initialDepth = 1362.767850; finalDepth = 1362.652983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1362.652983 # Seafloor depth: -1412.652983 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 51.351714 meters # Minimum depth: 1412.767850 meters looking forward 50.000000 meters along route # Maximum depth: 1414.732118 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.767850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745278; longitude = -122.110141; duration = 205; initialDepth = 1364.899707; finalDepth = 1362.767850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1362.76785 # Seafloor depth: -1412.767850 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 65.356902 meters # Minimum depth: 1414.899707 meters looking forward 50.000000 meters along route # Maximum depth: 1415.534907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.899707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745039; longitude = -122.109649; duration = 261; initialDepth = 1365.892015; finalDepth = 1364.899707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1364.899707 # Seafloor depth: -1414.899707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 70.025469 meters # Minimum depth: 1415.892015 meters looking forward 50.000000 meters along route # Maximum depth: 1417.890162 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.892015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744734; longitude = -122.109022; duration = 280; initialDepth = 1368.443760; finalDepth = 1365.892015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1365.892015 # Seafloor depth: -1415.892015 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 56.954214 meters # Minimum depth: 1418.443760 meters looking forward 50.000000 meters along route # Maximum depth: 1422.197056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1368.443760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744408; longitude = -122.108350; duration = 227; initialDepth = 1373.369946; finalDepth = 1368.443760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1368.44376 # Seafloor depth: -1418.443760 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.755400 meters # Minimum depth: 1423.369946 meters looking forward 50.000000 meters along route # Maximum depth: 1427.533447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1373.369946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744143; longitude = -122.107804; duration = 239; initialDepth = 1378.256115; finalDepth = 1373.369946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1373.369946 # Seafloor depth: -1423.369946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 70.026068 meters # Minimum depth: 1428.256115 meters looking forward 50.000000 meters along route # Maximum depth: 1431.084464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.256115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743865; longitude = -122.107231; duration = 280; initialDepth = 1382.167699; finalDepth = 1378.256115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1378.256115 # Seafloor depth: -1428.256115 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 62.556811 meters # Minimum depth: 1432.167699 meters looking forward 50.000000 meters along route # Maximum depth: 1433.835347 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.167699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743539; longitude = -122.106559; duration = 250; initialDepth = 1384.699189; finalDepth = 1382.167699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.167699 # Seafloor depth: -1432.167699 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 54.153801 meters # Minimum depth: 1434.699189 meters looking forward 50.000000 meters along route # Maximum depth: 1435.888499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.699189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743247; longitude = -122.105959; duration = 216; initialDepth = 1386.067990; finalDepth = 1384.699189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1384.699189 # Seafloor depth: -1434.699189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 70.026666 meters # Minimum depth: 1436.067990 meters looking forward 50.000000 meters along route # Maximum depth: 1436.716181 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.067990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742995; longitude = -122.105440; duration = 280; initialDepth = 1386.123584; finalDepth = 1386.067990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.06799 # Seafloor depth: -1436.067990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 70.026891 meters # Minimum depth: 1436.123584 meters looking forward 50.000000 meters along route # Maximum depth: 1436.924885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.123584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742669; longitude = -122.104768; duration = 280; initialDepth = 1384.226794; finalDepth = 1386.123584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6660570000001 # Actual altitude: 50.6660570000001 # Commanded vehicle depth: 1386.123584 # Seafloor depth: -1436.789641 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 62.246314 meters # Minimum depth: 1434.226794 meters looking forward 50.000000 meters along route # Maximum depth: 1436.061066 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.226794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742343; longitude = -122.104097; duration = 248; initialDepth = 1383.571940; finalDepth = 1384.226794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.8342720000001 # Actual altitude: 51.8342720000001 # Commanded vehicle depth: 1384.226794 # Seafloor depth: -1436.061066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 84.916355 meters # Minimum depth: 1433.571940 meters looking forward 50.000000 meters along route # Maximum depth: 1436.030172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.571940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742053; longitude = -122.103500; duration = 339; # abortOnTimeout = True; initialDepth = 1386.551886; finalDepth = 1383.571940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8342720000001 # Actual altitude: 51.8342720000001 # Commanded vehicle depth: 1383.57194 # Seafloor depth: -1433.571940 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 50.949800 meters # Minimum depth: 1436.551886 meters looking forward 50.000000 meters along route # Maximum depth: 1436.890922 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.551886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742800; longitude = -122.103288; duration = 203; initialDepth = 1386.294766; finalDepth = 1386.551886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1386.551886 # Seafloor depth: -1436.551886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949790 meters # Minimum depth: 1436.294766 meters looking forward 50.000000 meters along route # Maximum depth: 1436.599947 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.294766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743247; longitude = -122.103162; duration = 203; initialDepth = 1383.786265; finalDepth = 1386.294766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3051809999999 # Actual altitude: 50.3051809999999 # Commanded vehicle depth: 1386.294766 # Seafloor depth: -1436.599947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949780 meters # Minimum depth: 1433.786265 meters looking forward 50.000000 meters along route # Maximum depth: 1435.542025 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.786265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743695; longitude = -122.103035; duration = 203; initialDepth = 1379.896546; finalDepth = 1383.786265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75576 # Actual altitude: 51.75576 # Commanded vehicle depth: 1383.786265 # Seafloor depth: -1435.542025 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949771 meters # Minimum depth: 1429.896546 meters looking forward 50.000000 meters along route # Maximum depth: 1431.952024 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.896546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744143; longitude = -122.102908; duration = 203; initialDepth = 1377.057989; finalDepth = 1379.896546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.055478 # Actual altitude: 52.055478 # Commanded vehicle depth: 1379.896546 # Seafloor depth: -1431.952024 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949761 meters # Minimum depth: 1427.057989 meters looking forward 50.000000 meters along route # Maximum depth: 1428.115912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.057989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744591; longitude = -122.102781; duration = 203; initialDepth = 1376.621986; finalDepth = 1377.057989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.055478 # Actual altitude: 52.055478 # Commanded vehicle depth: 1377.057989 # Seafloor depth: -1428.115912 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949750 meters # Minimum depth: 1426.621986 meters looking forward 50.000000 meters along route # Maximum depth: 1427.187943 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.621986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745039; longitude = -122.102654; duration = 203; initialDepth = 1377.205545; finalDepth = 1376.621986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0579230000001 # Actual altitude: 51.0579230000001 # Commanded vehicle depth: 1376.621986 # Seafloor depth: -1426.621986 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949741 meters # Minimum depth: 1427.205545 meters looking forward 50.000000 meters along route # Maximum depth: 1428.386437 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.205545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745486; longitude = -122.102528; duration = 203; initialDepth = 1379.713673; finalDepth = 1377.205545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1377.205545 # Seafloor depth: -1427.205545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949731 meters # Minimum depth: 1429.713673 meters looking forward 50.000000 meters along route # Maximum depth: 1431.736511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.713673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745934; longitude = -122.102401; duration = 203; initialDepth = 1382.473056; finalDepth = 1379.713673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1379.713673 # Seafloor depth: -1429.713673 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949721 meters # Minimum depth: 1432.473056 meters looking forward 50.000000 meters along route # Maximum depth: 1432.518037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.473056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746382; longitude = -122.102274; duration = 203; initialDepth = 1380.193016; finalDepth = 1382.473056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1382.473056 # Seafloor depth: -1432.473056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949711 meters # Minimum depth: 1430.193016 meters looking forward 50.000000 meters along route # Maximum depth: 1431.611639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.193016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746830; longitude = -122.102147; duration = 203; initialDepth = 1374.390216; finalDepth = 1380.193016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.418623 # Actual altitude: 51.418623 # Commanded vehicle depth: 1380.193016 # Seafloor depth: -1431.611639 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949702 meters # Minimum depth: 1424.390216 meters looking forward 50.000000 meters along route # Maximum depth: 1427.573801 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1374.390216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747277; longitude = -122.102021; duration = 203; initialDepth = 1367.515612; finalDepth = 1374.390216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.183585 # Actual altitude: 53.183585 # Commanded vehicle depth: 1374.390216 # Seafloor depth: -1427.573801 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949691 meters # Minimum depth: 1417.515612 meters looking forward 50.000000 meters along route # Maximum depth: 1420.882553 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1367.515612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747725; longitude = -122.101894; duration = 203; initialDepth = 1358.879303; finalDepth = 1367.515612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.366941 # Actual altitude: 53.366941 # Commanded vehicle depth: 1367.515612 # Seafloor depth: -1420.882553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949682 meters # Minimum depth: 1408.879303 meters looking forward 50.000000 meters along route # Maximum depth: 1414.182378 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.879303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748173; longitude = -122.101767; duration = 203; initialDepth = 1352.442589; finalDepth = 1358.879303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.303075 # Actual altitude: 55.303075 # Commanded vehicle depth: 1358.879303 # Seafloor depth: -1414.182378 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949672 meters # Minimum depth: 1402.442589 meters looking forward 50.000000 meters along route # Maximum depth: 1405.839246 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.442589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748621; longitude = -122.101640; duration = 203; initialDepth = 1342.886200; finalDepth = 1352.442589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.303075 # Actual altitude: 55.303075 # Commanded vehicle depth: 1352.442589 # Seafloor depth: -1405.839246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949662 meters # Minimum depth: 1392.886200 meters looking forward 50.000000 meters along route # Maximum depth: 1399.475555 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1342.886200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749069; longitude = -122.101513; duration = 203; initialDepth = 1339.307010; finalDepth = 1342.886200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5893550000001 # Actual altitude: 56.5893550000001 # Commanded vehicle depth: 1342.8862 # Seafloor depth: -1399.475555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.949652 meters # Minimum depth: 1389.307010 meters looking forward 50.000000 meters along route # Maximum depth: 1392.008340 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1339.307010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749516; longitude = -122.101387; duration = 203; initialDepth = 1330.716044; finalDepth = 1339.307010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5893550000001 # Actual altitude: 56.5893550000001 # Commanded vehicle depth: 1339.30701 # Seafloor depth: -1392.008340 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.441248 meters # Minimum depth: 1380.716044 meters looking forward 50.000000 meters along route # Maximum depth: 1385.884973 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.716044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749964; longitude = -122.101260; duration = 237; initialDepth = 1329.544108; finalDepth = 1330.716044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.1689289999999 # Actual altitude: 55.1689289999999 # Commanded vehicle depth: 1330.716044 # Seafloor depth: -1385.884973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 68.566143 meters # Minimum depth: 1379.544108 meters looking forward 50.000000 meters along route # Maximum depth: 1383.511064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1329.544108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750487; longitude = -122.101112; duration = 274; # abortOnTimeout = True; initialDepth = 1334.675049; finalDepth = 1329.544108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1689289999999 # Actual altitude: 55.1689289999999 # Commanded vehicle depth: 1329.544108 # Seafloor depth: -1379.544108 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 58.771078 meters # Minimum depth: 1384.675049 meters looking forward 50.000000 meters along route # Maximum depth: 1391.516923 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1334.675049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749964; longitude = -122.101522; duration = 235; initialDepth = 1341.975734; finalDepth = 1334.675049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1334.675049 # Seafloor depth: -1384.675049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 58.771169 meters # Minimum depth: 1391.975734 meters looking forward 50.000000 meters along route # Maximum depth: 1398.275002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.975734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749516; longitude = -122.101874; duration = 235; initialDepth = 1352.701372; finalDepth = 1341.975734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1341.975734 # Seafloor depth: -1391.975734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 58.771260 meters # Minimum depth: 1402.701372 meters looking forward 50.000000 meters along route # Maximum depth: 1410.191673 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1352.701372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749069; longitude = -122.102226; duration = 235; initialDepth = 1361.289202; finalDepth = 1352.701372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1352.701372 # Seafloor depth: -1402.701372 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 66.785633 meters # Minimum depth: 1411.289202 meters looking forward 50.000000 meters along route # Maximum depth: 1421.130293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.289202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748621; longitude = -122.102578; duration = 267; initialDepth = 1372.049427; finalDepth = 1361.289202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1361.289202 # Seafloor depth: -1411.289202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 50.757159 meters # Minimum depth: 1422.049427 meters looking forward 50.000000 meters along route # Maximum depth: 1426.013683 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.049427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748112; longitude = -122.102977; duration = 203; initialDepth = 1377.191990; finalDepth = 1372.049427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1372.049427 # Seafloor depth: -1422.049427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 61.442967 meters # Minimum depth: 1427.191990 meters looking forward 50.000000 meters along route # Maximum depth: 1431.931126 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.191990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747725; longitude = -122.103281; duration = 245; initialDepth = 1381.959839; finalDepth = 1377.191990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1377.19199 # Seafloor depth: -1427.191990 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 56.100187 meters # Minimum depth: 1431.959839 meters looking forward 50.000000 meters along route # Maximum depth: 1432.496205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.959839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747257; longitude = -122.103649; duration = 224; initialDepth = 1382.589852; finalDepth = 1381.959839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1381.959839 # Seafloor depth: -1431.959839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 68.567008 meters # Minimum depth: 1432.589852 meters looking forward 50.000000 meters along route # Maximum depth: 1432.983093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.589852 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746830; longitude = -122.103985; duration = 274; initialDepth = 1382.478353; finalDepth = 1382.589852; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.393241 # Actual altitude: 50.393241 # Commanded vehicle depth: 1382.589852 # Seafloor depth: -1432.983093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 57.860906 meters # Minimum depth: 1432.478353 meters looking forward 50.000000 meters along route # Maximum depth: 1433.044749 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.478353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746307; longitude = -122.104395; duration = 231; # abortOnTimeout = True; initialDepth = 1358.260574; finalDepth = 1382.478353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.393241 # Actual altitude: 50.393241 # Commanded vehicle depth: 1382.478353 # Seafloor depth: -1432.478353 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.521427 meters # Minimum depth: 1433.260574 meters looking forward 50.000000 meters along route # Maximum depth: 1433.771473 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.260574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745881; longitude = -122.104768; duration = 214; initialDepth = 1358.608531; finalDepth = 1358.260574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1358.260574 # Seafloor depth: -1433.260574 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 60.754155 meters # Minimum depth: 1433.608531 meters looking forward 50.000000 meters along route # Maximum depth: 1434.355143 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.608531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745486; longitude = -122.105113; duration = 243; initialDepth = 1357.491511; finalDepth = 1358.608531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1358.608531 # Seafloor depth: -1433.608531 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 70.879986 meters # Minimum depth: 1432.491511 meters looking forward 50.000000 meters along route # Maximum depth: 1434.200679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.491511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745039; longitude = -122.105505; duration = 283; initialDepth = 1356.305555; finalDepth = 1357.491511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 76.7091680000001 # Actual altitude: 76.7091680000001 # Commanded vehicle depth: 1357.491511 # Seafloor depth: -1434.200679 # 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 48.524468 meters # Minimum depth: 1431.305555 meters looking forward 50.000000 meters along route # Maximum depth: 1432.300130 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.305555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744516; longitude = -122.105962; duration = 194; # abortOnTimeout = True; initialDepth = 1355.664331; finalDepth = 1356.305555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7091680000001 # Actual altitude: 76.7091680000001 # Commanded vehicle depth: 1356.305555 # Seafloor depth: -1432.300130 # 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 5 # Segment length 58.229440 meters # Minimum depth: 1430.664331 meters looking forward 50.000000 meters along route # Maximum depth: 1431.534644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1355.664331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744143; longitude = -122.106246; duration = 232; initialDepth = 1356.417603; finalDepth = 1355.664331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9945750000002 # Actual altitude: 75.9945750000002 # Commanded vehicle depth: 1355.664331 # Seafloor depth: -1430.664331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 72.020741 meters # Minimum depth: 1431.417603 meters looking forward 50.000000 meters along route # Maximum depth: 1432.222207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1356.417603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743695; longitude = -122.106586; duration = 288; initialDepth = 1357.428280; finalDepth = 1356.417603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1356.417603 # Seafloor depth: -1431.417603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 63.848283 meters # Minimum depth: 1432.428280 meters looking forward 50.000000 meters along route # Maximum depth: 1433.496660 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1357.428280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743141; longitude = -122.107007; duration = 255; initialDepth = 1358.434733; finalDepth = 1357.428280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1357.42828 # Seafloor depth: -1432.428280 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 68.811820 meters # Minimum depth: 1433.434733 meters looking forward 50.000000 meters along route # Maximum depth: 1434.122269 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.434733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742650; longitude = -122.107380; duration = 275; # abortOnTimeout = True; initialDepth = 1376.872804; finalDepth = 1358.434733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1358.434733 # Seafloor depth: -1433.434733 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 58.981661 meters # Minimum depth: 1434.452737 meters looking forward 50.000000 meters along route # Maximum depth: 1435.388428 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1376.872804 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742128; longitude = -122.107796; duration = 235; initialDepth = 1385.488548; finalDepth = 1376.872804; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 1376.87280426935 # Seafloor depth: -1434.452737 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 58.981753 meters # Minimum depth: 1435.488548 meters looking forward 50.000000 meters along route # Maximum depth: 1436.005995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.488548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741680; longitude = -122.108152; duration = 235; initialDepth = 1385.870475; finalDepth = 1385.488548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5799327306481 # Actual altitude: 57.5799327306481 # Commanded vehicle depth: 1385.488548 # Seafloor depth: -1435.488548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 58.981846 meters # Minimum depth: 1435.870475 meters looking forward 50.000000 meters along route # Maximum depth: 1437.529715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.870475 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741232; longitude = -122.108508; duration = 235; initialDepth = 1388.223697; finalDepth = 1385.870475; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1385.870475 # Seafloor depth: -1435.870475 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 63.194939 meters # Minimum depth: 1438.223697 meters looking forward 50.000000 meters along route # Maximum depth: 1444.347789 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1388.223697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740785; longitude = -122.108864; duration = 252; initialDepth = 1394.752616; finalDepth = 1388.223697; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1388.223697 # Seafloor depth: -1438.223697 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 54.769032 meters # Minimum depth: 1444.752616 meters looking forward 50.000000 meters along route # Maximum depth: 1448.005005 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1394.752616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740305; longitude = -122.109246; duration = 219; initialDepth = 1398.184953; finalDepth = 1394.752616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1394.752616 # Seafloor depth: -1444.752616 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 68.812488 meters # Minimum depth: 1448.184953 meters looking forward 50.000000 meters along route # Maximum depth: 1449.202239 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.184953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739889; longitude = -122.109576; duration = 275; initialDepth = 1397.823730; finalDepth = 1398.184953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.8841190000001 # Actual altitude: 50.8841190000001 # Commanded vehicle depth: 1398.184953 # Seafloor depth: -1449.069072 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 39.333536 meters # Minimum depth: 1447.823730 meters looking forward 50.000000 meters along route # Maximum depth: 1448.289330 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1397.823730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739367; longitude = -122.109992; duration = 157; # abortOnTimeout = True; initialDepth = 1398.010243; finalDepth = 1397.823730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8841190000001 # Actual altitude: 50.8841190000001 # Commanded vehicle depth: 1397.82373 # Seafloor depth: -1447.823730 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 59.000226 meters # Minimum depth: 1448.010243 meters looking forward 50.000000 meters along route # Maximum depth: 1449.202449 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1398.010243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739665; longitude = -122.109754; duration = 236; initialDepth = 1391.385590; finalDepth = 1398.010243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1658030000001 # Actual altitude: 51.1658030000001 # Commanded vehicle depth: 1398.010243 # Seafloor depth: -1449.176046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 62.201688 meters # Minimum depth: 1441.385590 meters looking forward 50.000000 meters along route # Maximum depth: 1447.194630 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1391.385590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740113; longitude = -122.109398; duration = 248; initialDepth = 1387.543385; finalDepth = 1391.385590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8090399999999 # Actual altitude: 55.8090399999999 # Commanded vehicle depth: 1391.38559 # Seafloor depth: -1447.194630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.798485 meters # Minimum depth: 1437.543385 meters looking forward 50.000000 meters along route # Maximum depth: 1441.012511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.543385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740585; longitude = -122.109022; duration = 223; initialDepth = 1385.880227; finalDepth = 1387.543385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8090399999999 # Actual altitude: 55.8090399999999 # Commanded vehicle depth: 1387.543385 # Seafloor depth: -1441.012511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999947 meters # Minimum depth: 1435.880227 meters looking forward 50.000000 meters along route # Maximum depth: 1436.644430 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.880227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741008; longitude = -122.108685; duration = 235; initialDepth = 1385.400796; finalDepth = 1385.880227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.469126 # Actual altitude: 53.469126 # Commanded vehicle depth: 1385.880227 # Seafloor depth: -1436.644430 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999854 meters # Minimum depth: 1435.400796 meters looking forward 50.000000 meters along route # Maximum depth: 1435.944428 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1385.400796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741456; longitude = -122.108328; duration = 235; initialDepth = 1384.136754; finalDepth = 1385.400796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.764203 # Actual altitude: 50.764203 # Commanded vehicle depth: 1385.400796 # Seafloor depth: -1435.944428 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999762 meters # Minimum depth: 1434.136754 meters looking forward 50.000000 meters along route # Maximum depth: 1434.912875 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.136754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741904; longitude = -122.107971; duration = 235; initialDepth = 1383.442139; finalDepth = 1384.136754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7761209999999 # Actual altitude: 50.7761209999999 # Commanded vehicle depth: 1384.136754 # Seafloor depth: -1434.912875 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 63.573282 meters # Minimum depth: 1433.442139 meters looking forward 50.000000 meters along route # Maximum depth: 1433.914103 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.442139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742352; longitude = -122.107615; duration = 254; initialDepth = 1382.533539; finalDepth = 1383.442139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7761209999999 # Actual altitude: 50.7761209999999 # Commanded vehicle depth: 1383.442139 # Seafloor depth: -1433.914103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 54.425961 meters # Minimum depth: 1432.533539 meters looking forward 50.000000 meters along route # Maximum depth: 1433.478705 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.533539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742834; longitude = -122.107231; duration = 217; initialDepth = 1381.564928; finalDepth = 1382.533539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.945166 # Actual altitude: 50.945166 # Commanded vehicle depth: 1382.533539 # Seafloor depth: -1433.478705 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999483 meters # Minimum depth: 1431.564928 meters looking forward 50.000000 meters along route # Maximum depth: 1432.290643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.564928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743247; longitude = -122.106902; duration = 235; initialDepth = 1381.329816; finalDepth = 1381.564928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.945166 # Actual altitude: 50.945166 # Commanded vehicle depth: 1381.564928 # Seafloor depth: -1432.290643 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999389 meters # Minimum depth: 1431.329816 meters looking forward 50.000000 meters along route # Maximum depth: 1431.549814 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.329816 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743695; longitude = -122.106545; duration = 235; initialDepth = 1380.914802; finalDepth = 1381.329816; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.725715 # Actual altitude: 50.725715 # Commanded vehicle depth: 1381.329816 # Seafloor depth: -1431.508561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999296 meters # Minimum depth: 1430.914802 meters looking forward 50.000000 meters along route # Maximum depth: 1432.663260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1380.914802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744143; longitude = -122.106189; duration = 235; initialDepth = 1383.006203; finalDepth = 1380.914802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1787450000002 # Actual altitude: 50.1787450000002 # Commanded vehicle depth: 1380.914802 # Seafloor depth: -1430.914802 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 64.944855 meters # Minimum depth: 1433.006203 meters looking forward 50.000000 meters along route # Maximum depth: 1434.474793 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.006203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744591; longitude = -122.105832; duration = 259; initialDepth = 1384.001636; finalDepth = 1383.006203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1383.006203 # Seafloor depth: -1433.006203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.053459 meters # Minimum depth: 1434.001636 meters looking forward 50.000000 meters along route # Maximum depth: 1434.535042 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1384.001636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745084; longitude = -122.105440; duration = 212; initialDepth = 1383.008135; finalDepth = 1384.001636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.533406 # Actual altitude: 50.533406 # Commanded vehicle depth: 1384.001636 # Seafloor depth: -1434.535042 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.999017 meters # Minimum depth: 1433.008135 meters looking forward 50.000000 meters along route # Maximum depth: 1433.696612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1383.008135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745486; longitude = -122.105119; duration = 235; initialDepth = 1382.415916; finalDepth = 1383.008135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.568659 # Actual altitude: 50.568659 # Commanded vehicle depth: 1383.008135 # Seafloor depth: -1433.576794 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.998925 meters # Minimum depth: 1432.415916 meters looking forward 50.000000 meters along route # Maximum depth: 1432.979156 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.415916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745934; longitude = -122.104763; duration = 235; initialDepth = 1382.435615; finalDepth = 1382.415916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.568659 # Actual altitude: 50.568659 # Commanded vehicle depth: 1382.415916 # Seafloor depth: -1432.979156 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.998831 meters # Minimum depth: 1432.435615 meters looking forward 50.000000 meters along route # Maximum depth: 1432.778378 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.435615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746382; longitude = -122.104406; duration = 235; initialDepth = 1381.645606; finalDepth = 1382.435615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5632400000002 # Actual altitude: 50.5632400000002 # Commanded vehicle depth: 1382.435615 # Seafloor depth: -1432.435615 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 66.316406 meters # Minimum depth: 1431.645606 meters looking forward 50.000000 meters along route # Maximum depth: 1432.837854 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1381.645606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746830; longitude = -122.104050; duration = 265; initialDepth = 1378.748164; finalDepth = 1381.645606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1922480000001 # Actual altitude: 51.1922480000001 # Commanded vehicle depth: 1381.645606 # Seafloor depth: -1432.837854 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.680979 meters # Minimum depth: 1428.748164 meters looking forward 50.000000 meters along route # Maximum depth: 1431.333463 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1378.748164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747333; longitude = -122.103649; duration = 206; initialDepth = 1371.196043; finalDepth = 1378.748164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5852989999998 # Actual altitude: 52.5852989999998 # Commanded vehicle depth: 1378.748164 # Seafloor depth: -1431.333463 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 59.455905 meters # Minimum depth: 1421.196043 meters looking forward 50.000000 meters along route # Maximum depth: 1427.071874 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.196043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747725; longitude = -122.103337; duration = 237; initialDepth = 1364.911003; finalDepth = 1371.196043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8758310000001 # Actual altitude: 55.8758310000001 # Commanded vehicle depth: 1371.196043 # Seafloor depth: -1427.071874 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.541107 meters # Minimum depth: 1414.911003 meters looking forward 50.000000 meters along route # Maximum depth: 1421.126932 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1364.911003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748176; longitude = -122.102977; duration = 234; initialDepth = 1353.577216; finalDepth = 1364.911003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.215929 # Actual altitude: 56.215929 # Commanded vehicle depth: 1364.911003 # Seafloor depth: -1421.126932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 58.998366 meters # Minimum depth: 1403.577216 meters looking forward 50.000000 meters along route # Maximum depth: 1411.250125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.577216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748621; longitude = -122.102624; duration = 235; initialDepth = 1341.999213; finalDepth = 1353.577216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6729090000001 # Actual altitude: 57.6729090000001 # Commanded vehicle depth: 1353.577216 # Seafloor depth: -1411.250125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 67.687935 meters # Minimum depth: 1391.999213 meters looking forward 50.000000 meters along route # Maximum depth: 1402.738247 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.999213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749069; longitude = -122.102267; duration = 270; initialDepth = 1335.781920; finalDepth = 1341.999213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7390339999999 # Actual altitude: 60.7390339999999 # Commanded vehicle depth: 1341.999213 # Seafloor depth: -1402.738247 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 50.308520 meters # Minimum depth: 1385.781920 meters looking forward 50.000000 meters along route # Maximum depth: 1390.512075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1335.781920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749582; longitude = -122.101858; duration = 201; initialDepth = 1330.491146; finalDepth = 1335.781920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7390339999999 # Actual altitude: 60.7390339999999 # Commanded vehicle depth: 1335.78192 # Seafloor depth: -1390.512075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 60.827484 meters # Minimum depth: 1380.491146 meters looking forward 50.000000 meters along route # Maximum depth: 1384.530509 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1330.491146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749964; longitude = -122.101554; duration = 243; initialDepth = 1322.871044; finalDepth = 1330.491146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7301550000002 # Actual altitude: 54.7301550000002 # Commanded vehicle depth: 1330.491146 # Seafloor depth: -1384.530509 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 74.090487 meters # Minimum depth: 1372.871044 meters looking forward 50.000000 meters along route # Maximum depth: 1380.329110 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1322.871044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750426; longitude = -122.101186; duration = 296; initialDepth = 1311.638832; finalDepth = 1322.871044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4580659999999 # Actual altitude: 57.4580659999999 # Commanded vehicle depth: 1322.871044 # Seafloor depth: -1380.329110 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 61.741960 meters # Minimum depth: 1361.638832 meters looking forward 50.000000 meters along route # Maximum depth: 1369.849982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.638832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750988; longitude = -122.100739; duration = 246; initialDepth = 1292.741401; finalDepth = 1311.638832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.2111499999999 # Actual altitude: 58.2111499999999 # Commanded vehicle depth: 1311.638832 # Seafloor depth: -1369.849982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 65.494780 meters # Minimum depth: 1342.741401 meters looking forward 50.000000 meters along route # Maximum depth: 1356.183431 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1292.741401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751457; longitude = -122.100366; duration = 261; # abortOnTimeout = True; initialDepth = 1285.515202; finalDepth = 1292.741401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4420299999999 # Actual altitude: 63.4420299999999 # Commanded vehicle depth: 1292.741401 # Seafloor depth: -1356.183431 # 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 2 # Segment length 56.138313 meters # Minimum depth: 1335.515202 meters looking forward 50.000000 meters along route # Maximum depth: 1341.303593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1285.515202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751979; longitude = -122.100024; duration = 224; initialDepth = 1279.209665; finalDepth = 1285.515202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4420299999999 # Actual altitude: 63.4420299999999 # Commanded vehicle depth: 1285.515202 # Seafloor depth: -1341.303593 # 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 2 # Segment length 56.138248 meters # Minimum depth: 1329.209665 meters looking forward 50.000000 meters along route # Maximum depth: 1332.088877 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1279.209665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752427; longitude = -122.099731; duration = 224; initialDepth = 1269.096271; finalDepth = 1279.209665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.788391 # Actual altitude: 55.788391 # Commanded vehicle depth: 1279.209665 # Seafloor depth: -1332.088877 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.138184 meters # Minimum depth: 1319.096271 meters looking forward 50.000000 meters along route # Maximum depth: 1326.404189 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1269.096271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752875; longitude = -122.099438; duration = 224; initialDepth = 1261.330398; finalDepth = 1269.096271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3079180000002 # Actual altitude: 57.3079180000002 # Commanded vehicle depth: 1269.096271 # Seafloor depth: -1326.404189 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.138119 meters # Minimum depth: 1311.330398 meters looking forward 50.000000 meters along route # Maximum depth: 1318.404065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.330398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753323; longitude = -122.099145; duration = 224; initialDepth = 1253.582546; finalDepth = 1261.330398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3079180000002 # Actual altitude: 57.3079180000002 # Commanded vehicle depth: 1261.330398 # Seafloor depth: -1318.404065 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.138054 meters # Minimum depth: 1303.582546 meters looking forward 50.000000 meters along route # Maximum depth: 1308.924588 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1253.582546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753770; longitude = -122.098852; duration = 224; initialDepth = 1243.292824; finalDepth = 1253.582546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0736669999999 # Actual altitude: 57.0736669999999 # Commanded vehicle depth: 1253.582546 # Seafloor depth: -1308.924588 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137990 meters # Minimum depth: 1293.292824 meters looking forward 50.000000 meters along route # Maximum depth: 1298.889701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1243.292824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754218; longitude = -122.098559; duration = 224; initialDepth = 1239.592143; finalDepth = 1243.292824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5968769999999 # Actual altitude: 55.5968769999999 # Commanded vehicle depth: 1243.292824 # Seafloor depth: -1298.889701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137925 meters # Minimum depth: 1289.592143 meters looking forward 50.000000 meters along route # Maximum depth: 1293.127664 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1239.592143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754666; longitude = -122.098266; duration = 224; initialDepth = 1237.496267; finalDepth = 1239.592143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5968769999999 # Actual altitude: 55.5968769999999 # Commanded vehicle depth: 1239.592143 # Seafloor depth: -1293.127664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137860 meters # Minimum depth: 1287.496267 meters looking forward 50.000000 meters along route # Maximum depth: 1288.707213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.496267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755114; longitude = -122.097974; duration = 224; initialDepth = 1234.927383; finalDepth = 1237.496267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.535521 # Actual altitude: 53.535521 # Commanded vehicle depth: 1237.496267 # Seafloor depth: -1288.707213 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 57.457206 meters # Minimum depth: 1284.927383 meters looking forward 50.000000 meters along route # Maximum depth: 1286.563259 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1234.927383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755562; longitude = -122.097681; duration = 229; initialDepth = 1233.360044; finalDepth = 1234.927383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6358760000001 # Actual altitude: 51.6358760000001 # Commanded vehicle depth: 1234.927383 # Seafloor depth: -1286.563259 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 54.818322 meters # Minimum depth: 1283.360044 meters looking forward 50.000000 meters along route # Maximum depth: 1284.887290 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1233.360044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756020; longitude = -122.097381; duration = 219; initialDepth = 1231.468028; finalDepth = 1233.360044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6358760000001 # Actual altitude: 51.6358760000001 # Commanded vehicle depth: 1233.360044 # Seafloor depth: -1284.887290 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137666 meters # Minimum depth: 1281.468028 meters looking forward 50.000000 meters along route # Maximum depth: 1283.269029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1231.468028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756457; longitude = -122.097095; duration = 224; initialDepth = 1230.210278; finalDepth = 1231.468028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.801001 # Actual altitude: 51.801001 # Commanded vehicle depth: 1231.468028 # Seafloor depth: -1283.269029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 60.659707 meters # Minimum depth: 1280.210278 meters looking forward 50.000000 meters along route # Maximum depth: 1281.596779 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.210278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756905; longitude = -122.096802; duration = 242; initialDepth = 1230.223890; finalDepth = 1230.210278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.801001 # Actual altitude: 51.801001 # Commanded vehicle depth: 1230.210278 # Seafloor depth: -1281.596779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 51.615433 meters # Minimum depth: 1280.223890 meters looking forward 50.000000 meters along route # Maximum depth: 1280.829879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.223890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757389; longitude = -122.096485; duration = 206; initialDepth = 1230.230137; finalDepth = 1230.223890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.386501 # Actual altitude: 51.386501 # Commanded vehicle depth: 1230.22389 # Seafloor depth: -1280.223890 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137473 meters # Minimum depth: 1280.230137 meters looking forward 50.000000 meters along route # Maximum depth: 1280.971690 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.230137 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757800; longitude = -122.096216; duration = 224; initialDepth = 1230.482060; finalDepth = 1230.230137; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7415530000001 # Actual altitude: 50.7415530000001 # Commanded vehicle depth: 1230.230137 # Seafloor depth: -1280.971690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137408 meters # Minimum depth: 1280.482060 meters looking forward 50.000000 meters along route # Maximum depth: 1280.788548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.482060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758248; longitude = -122.095923; duration = 224; initialDepth = 1225.120098; finalDepth = 1230.482060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7415530000001 # Actual altitude: 50.7415530000001 # Commanded vehicle depth: 1230.48206 # Seafloor depth: -1280.482060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137344 meters # Minimum depth: 1275.120098 meters looking forward 50.000000 meters along route # Maximum depth: 1279.803670 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.120098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758696; longitude = -122.095630; duration = 224; initialDepth = 1217.677613; finalDepth = 1225.120098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6835719999999 # Actual altitude: 54.6835719999999 # Commanded vehicle depth: 1225.120098 # Seafloor depth: -1279.803670 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137279 meters # Minimum depth: 1267.677613 meters looking forward 50.000000 meters along route # Maximum depth: 1274.349037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.677613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759144; longitude = -122.095337; duration = 224; initialDepth = 1211.437741; finalDepth = 1217.677613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6714239999999 # Actual altitude: 56.6714239999999 # Commanded vehicle depth: 1217.677613 # Seafloor depth: -1274.349037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137215 meters # Minimum depth: 1261.437741 meters looking forward 50.000000 meters along route # Maximum depth: 1265.000345 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.437741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759592; longitude = -122.095044; duration = 224; initialDepth = 1203.032198; finalDepth = 1211.437741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6714239999999 # Actual altitude: 56.6714239999999 # Commanded vehicle depth: 1211.437741 # Seafloor depth: -1265.000345 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137149 meters # Minimum depth: 1253.032198 meters looking forward 50.000000 meters along route # Maximum depth: 1258.080796 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.032198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760039; longitude = -122.094751; duration = 224; initialDepth = 1200.792485; finalDepth = 1203.032198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0485979999999 # Actual altitude: 55.0485979999999 # Commanded vehicle depth: 1203.032198 # Seafloor depth: -1258.080796 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137086 meters # Minimum depth: 1250.792485 meters looking forward 50.000000 meters along route # Maximum depth: 1252.865932 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.792485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760487; longitude = -122.094459; duration = 224; initialDepth = 1198.379585; finalDepth = 1200.792485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0485979999999 # Actual altitude: 55.0485979999999 # Commanded vehicle depth: 1200.792485 # Seafloor depth: -1252.865932 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.137020 meters # Minimum depth: 1248.379585 meters looking forward 50.000000 meters along route # Maximum depth: 1249.853064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.379585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760935; longitude = -122.094166; duration = 224; initialDepth = 1183.622958; finalDepth = 1198.379585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.073447 # Actual altitude: 52.073447 # Commanded vehicle depth: 1198.379585 # Seafloor depth: -1249.853064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 57.033433 meters # Minimum depth: 1233.622958 meters looking forward 50.000000 meters along route # Maximum depth: 1244.579049 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.622958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761383; longitude = -122.093873; duration = 228; initialDepth = 1174.730056; finalDepth = 1183.622958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.956091 # Actual altitude: 60.956091 # Commanded vehicle depth: 1183.622958 # Seafloor depth: -1244.579049 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 55.240415 meters # Minimum depth: 1224.730056 meters looking forward 50.000000 meters along route # Maximum depth: 1233.431200 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.730056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761838; longitude = -122.093575; duration = 220; initialDepth = 1165.433341; finalDepth = 1174.730056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.956091 # Actual altitude: 60.956091 # Commanded vehicle depth: 1174.730056 # Seafloor depth: -1233.431200 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136827 meters # Minimum depth: 1215.433341 meters looking forward 50.000000 meters along route # Maximum depth: 1222.149608 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.433341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762278; longitude = -122.093287; duration = 224; initialDepth = 1147.386134; finalDepth = 1165.433341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.7011439999999 # Actual altitude: 58.7011439999999 # Commanded vehicle depth: 1165.433341 # Seafloor depth: -1222.149608 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 60.235887 meters # Minimum depth: 1197.386134 meters looking forward 50.000000 meters along route # Maximum depth: 1210.896873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1147.386134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762726; longitude = -122.092994; duration = 240; initialDepth = 1136.752808; finalDepth = 1147.386134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5107389999998 # Actual altitude: 63.5107389999998 # Commanded vehicle depth: 1147.386134 # Seafloor depth: -1210.896873 # 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 2 # Segment length 52.037573 meters # Minimum depth: 1186.752808 meters looking forward 50.000000 meters along route # Maximum depth: 1196.469896 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1136.752808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763207; longitude = -122.092680; duration = 208; initialDepth = 1124.784169; finalDepth = 1136.752808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5107389999998 # Actual altitude: 63.5107389999998 # Commanded vehicle depth: 1136.752808 # Seafloor depth: -1196.469896 # 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 2 # Segment length 56.136633 meters # Minimum depth: 1174.784169 meters looking forward 50.000000 meters along route # Maximum depth: 1184.889446 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.784169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763622; longitude = -122.092408; duration = 224; initialDepth = 1115.197908; finalDepth = 1124.784169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1052769999999 # Actual altitude: 60.1052769999999 # Commanded vehicle depth: 1124.784169 # Seafloor depth: -1184.889446 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136568 meters # Minimum depth: 1165.197908 meters looking forward 50.000000 meters along route # Maximum depth: 1169.572611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.197908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764069; longitude = -122.092115; duration = 224; initialDepth = 1109.119969; finalDepth = 1115.197908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1052769999999 # Actual altitude: 60.1052769999999 # Commanded vehicle depth: 1115.197908 # Seafloor depth: -1169.572611 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136504 meters # Minimum depth: 1159.119969 meters looking forward 50.000000 meters along route # Maximum depth: 1161.620106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1109.119969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764517; longitude = -122.091822; duration = 224; initialDepth = 1108.172786; finalDepth = 1109.119969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.374703 # Actual altitude: 54.374703 # Commanded vehicle depth: 1109.119969 # Seafloor depth: -1161.620106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136440 meters # Minimum depth: 1158.172786 meters looking forward 50.000000 meters along route # Maximum depth: 1159.008155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1108.172786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764965; longitude = -122.091529; duration = 224; initialDepth = 1106.926485; finalDepth = 1108.172786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.500137 # Actual altitude: 52.500137 # Commanded vehicle depth: 1108.172786 # Seafloor depth: -1159.008155 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136374 meters # Minimum depth: 1156.926485 meters looking forward 50.000000 meters along route # Maximum depth: 1157.792606 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.926485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765413; longitude = -122.091236; duration = 224; initialDepth = 1099.131481; finalDepth = 1106.926485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.866121 # Actual altitude: 50.866121 # Commanded vehicle depth: 1106.926485 # Seafloor depth: -1157.792606 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136310 meters # Minimum depth: 1149.131481 meters looking forward 50.000000 meters along route # Maximum depth: 1156.230397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1099.131481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765861; longitude = -122.090944; duration = 224; initialDepth = 1092.892078; finalDepth = 1099.131481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0989160000001 # Actual altitude: 57.0989160000001 # Commanded vehicle depth: 1099.131481 # Seafloor depth: -1156.230397 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136246 meters # Minimum depth: 1142.892078 meters looking forward 50.000000 meters along route # Maximum depth: 1148.875970 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1092.892078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766308; longitude = -122.090651; duration = 224; initialDepth = 1086.645510; finalDepth = 1092.892078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0989160000001 # Actual altitude: 57.0989160000001 # Commanded vehicle depth: 1092.892078 # Seafloor depth: -1148.875970 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.136181 meters # Minimum depth: 1136.645510 meters looking forward 50.000000 meters along route # Maximum depth: 1140.564764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.645510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766756; longitude = -122.090358; duration = 224; initialDepth = 1077.672201; finalDepth = 1086.645510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.983892 # Actual altitude: 55.983892 # Commanded vehicle depth: 1086.64551 # Seafloor depth: -1140.564764 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.609672 meters # Minimum depth: 1127.672201 meters looking forward 50.000000 meters along route # Maximum depth: 1133.476330 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1077.672201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767204; longitude = -122.090065; duration = 226; initialDepth = 1073.378562; finalDepth = 1077.672201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8041289999999 # Actual altitude: 55.8041289999999 # Commanded vehicle depth: 1077.672201 # Seafloor depth: -1133.476330 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 55.662496 meters # Minimum depth: 1123.378562 meters looking forward 50.000000 meters along route # Maximum depth: 1127.628210 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1073.378562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767656; longitude = -122.089769; duration = 222; initialDepth = 1067.452147; finalDepth = 1073.378562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8041289999999 # Actual altitude: 55.8041289999999 # Commanded vehicle depth: 1073.378562 # Seafloor depth: -1127.628210 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135987 meters # Minimum depth: 1117.452147 meters looking forward 50.000000 meters along route # Maximum depth: 1122.183003 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.452147 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768100; longitude = -122.089479; duration = 224; initialDepth = 1053.814036; finalDepth = 1067.452147; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7308560000001 # Actual altitude: 54.7308560000001 # Commanded vehicle depth: 1067.452147 # Seafloor depth: -1122.183003 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 59.812081 meters # Minimum depth: 1103.814036 meters looking forward 50.000000 meters along route # Maximum depth: 1112.935952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.814036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768547; longitude = -122.089186; duration = 239; initialDepth = 1047.708857; finalDepth = 1053.814036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1219160000001 # Actual altitude: 59.1219160000001 # Commanded vehicle depth: 1053.814036 # Seafloor depth: -1112.935952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 52.459699 meters # Minimum depth: 1097.708857 meters looking forward 50.000000 meters along route # Maximum depth: 1103.280158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.708857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769024; longitude = -122.088874; duration = 209; initialDepth = 1043.255419; finalDepth = 1047.708857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1219160000001 # Actual altitude: 59.1219160000001 # Commanded vehicle depth: 1047.708857 # Seafloor depth: -1103.280158 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135794 meters # Minimum depth: 1093.255419 meters looking forward 50.000000 meters along route # Maximum depth: 1096.588966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.255419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769443; longitude = -122.088600; duration = 224; initialDepth = 1039.677789; finalDepth = 1043.255419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5713009999999 # Actual altitude: 55.5713009999999 # Commanded vehicle depth: 1043.255419 # Seafloor depth: -1096.588966 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135729 meters # Minimum depth: 1089.677789 meters looking forward 50.000000 meters along route # Maximum depth: 1092.333981 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.677789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769891; longitude = -122.088307; duration = 224; initialDepth = 1033.582956; finalDepth = 1039.677789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.333547 # Actual altitude: 53.333547 # Commanded vehicle depth: 1039.677789 # Seafloor depth: -1092.333981 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135664 meters # Minimum depth: 1083.582956 meters looking forward 50.000000 meters along route # Maximum depth: 1088.583085 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.582956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770339; longitude = -122.088014; duration = 224; initialDepth = 1023.062291; finalDepth = 1033.582956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.000129 # Actual altitude: 55.000129 # Commanded vehicle depth: 1033.582956 # Seafloor depth: -1088.583085 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135599 meters # Minimum depth: 1073.062291 meters looking forward 50.000000 meters along route # Maximum depth: 1082.392306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.062291 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770786; longitude = -122.087721; duration = 224; initialDepth = 1014.048062; finalDepth = 1023.062291; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.330015 # Actual altitude: 59.330015 # Commanded vehicle depth: 1023.062291 # Seafloor depth: -1082.392306 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135535 meters # Minimum depth: 1064.048062 meters looking forward 50.000000 meters along route # Maximum depth: 1070.068767 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.048062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771234; longitude = -122.087429; duration = 224; initialDepth = 1000.053907; finalDepth = 1014.048062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.330015 # Actual altitude: 59.330015 # Commanded vehicle depth: 1014.048062 # Seafloor depth: -1070.068767 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135471 meters # Minimum depth: 1050.053907 meters looking forward 50.000000 meters along route # Maximum depth: 1057.908525 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.053907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771682; longitude = -122.087136; duration = 224; initialDepth = 996.854742; finalDepth = 1000.053907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8546180000001 # Actual altitude: 57.8546180000001 # Commanded vehicle depth: 1000.053907 # Seafloor depth: -1057.908525 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135405 meters # Minimum depth: 1046.854742 meters looking forward 50.000000 meters along route # Maximum depth: 1049.790420 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.854742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772130; longitude = -122.086843; duration = 224; initialDepth = 995.914844; finalDepth = 996.854742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8546180000001 # Actual altitude: 57.8546180000001 # Commanded vehicle depth: 996.854742 # Seafloor depth: -1049.790420 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135342 meters # Minimum depth: 1045.914844 meters looking forward 50.000000 meters along route # Maximum depth: 1046.576958 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.914844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772577; longitude = -122.086550; duration = 224; initialDepth = 994.353706; finalDepth = 995.914844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9356780000001 # Actual altitude: 52.9356780000001 # Commanded vehicle depth: 995.914844 # Seafloor depth: -1046.576958 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.185925 meters # Minimum depth: 1044.353706 meters looking forward 50.000000 meters along route # Maximum depth: 1046.140464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.353706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773025; longitude = -122.086257; duration = 224; initialDepth = 988.510200; finalDepth = 994.353706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.172098 # Actual altitude: 51.172098 # Commanded vehicle depth: 994.353706 # Seafloor depth: -1045.525804 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.084563 meters # Minimum depth: 1038.510200 meters looking forward 50.000000 meters along route # Maximum depth: 1044.349243 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.510200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773473; longitude = -122.085964; duration = 224; initialDepth = 974.608145; finalDepth = 988.510200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8390429999999 # Actual altitude: 55.8390429999999 # Commanded vehicle depth: 988.5102 # Seafloor depth: -1044.349243 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 56.135148 meters # Minimum depth: 1024.608145 meters looking forward 50.000000 meters along route # Maximum depth: 1034.826873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.608145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773921; longitude = -122.085671; duration = 224; initialDepth = 951.419160; finalDepth = 974.608145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2187280000001 # Actual altitude: 60.2187280000001 # Commanded vehicle depth: 974.608145 # Seafloor depth: -1034.826873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 59.388287 meters # Minimum depth: 1001.419160 meters looking forward 50.000000 meters along route # Maximum depth: 1013.654479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.419160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774369; longitude = -122.085378; duration = 237; initialDepth = 944.663434; finalDepth = 951.419160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.235319 # Actual altitude: 62.235319 # Commanded vehicle depth: 951.41916 # Seafloor depth: -1013.654479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 71.536117 meters # Minimum depth: 994.663434 meters looking forward 50.000000 meters along route # Maximum depth: 1000.693069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.663434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774842; longitude = -122.085068; duration = 286; initialDepth = 943.919902; finalDepth = 944.663434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 2 # Commanded altitude: 62.235319 # Actual altitude: 62.235319 # Commanded vehicle depth: 944.663434 # Seafloor depth: -1000.693069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.89; 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 88.234078 meters # Minimum depth: 993.919902 meters looking forward 50.000000 meters along route # Maximum depth: 995.406097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.919902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775413; longitude = -122.084695; duration = 352; # abortOnTimeout = True; initialDepth = 936.792646; finalDepth = 943.919902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.029635 # Actual altitude: 56.029635 # Commanded vehicle depth: 943.919902 # Seafloor depth: -995.406097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 52.907971 meters # Minimum depth: 986.792646 meters looking forward 50.000000 meters along route # Maximum depth: 992.687524 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.792646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776160; longitude = -122.084355; duration = 211; initialDepth = 930.799604; finalDepth = 936.792646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8948780000001 # Actual altitude: 55.8948780000001 # Commanded vehicle depth: 936.792646 # Seafloor depth: -992.687524 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907939 meters # Minimum depth: 980.799604 meters looking forward 50.000000 meters along route # Maximum depth: 986.191342 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.799604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776608; longitude = -122.084151; duration = 211; initialDepth = 924.724714; finalDepth = 930.799604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8948780000001 # Actual altitude: 55.8948780000001 # Commanded vehicle depth: 930.799604 # Seafloor depth: -986.191342 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907909 meters # Minimum depth: 974.724714 meters looking forward 50.000000 meters along route # Maximum depth: 980.732004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.724714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777055; longitude = -122.083947; duration = 211; initialDepth = 915.461560; finalDepth = 924.724714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.00729 # Actual altitude: 56.00729 # Commanded vehicle depth: 924.724714 # Seafloor depth: -980.732004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907877 meters # Minimum depth: 965.461560 meters looking forward 50.000000 meters along route # Maximum depth: 969.150517 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.461560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777503; longitude = -122.083743; duration = 211; initialDepth = 907.618877; finalDepth = 915.461560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.00729 # Actual altitude: 56.00729 # Commanded vehicle depth: 915.46156 # Seafloor depth: -969.150517 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907847 meters # Minimum depth: 957.618877 meters looking forward 50.000000 meters along route # Maximum depth: 962.140331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.618877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777951; longitude = -122.083539; duration = 211; initialDepth = 895.165229; finalDepth = 907.618877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5214539999999 # Actual altitude: 54.5214539999999 # Commanded vehicle depth: 907.618877 # Seafloor depth: -962.140331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907815 meters # Minimum depth: 945.165229 meters looking forward 50.000000 meters along route # Maximum depth: 952.781553 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.165229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778399; longitude = -122.083335; duration = 211; initialDepth = 879.545545; finalDepth = 895.165229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6163240000001 # Actual altitude: 57.6163240000001 # Commanded vehicle depth: 895.165229 # Seafloor depth: -952.781553 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907785 meters # Minimum depth: 929.545545 meters looking forward 50.000000 meters along route # Maximum depth: 937.739599 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.545545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778846; longitude = -122.083131; duration = 211; initialDepth = 864.204727; finalDepth = 879.545545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1940540000001 # Actual altitude: 58.1940540000001 # Commanded vehicle depth: 879.545545 # Seafloor depth: -937.739599 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907753 meters # Minimum depth: 914.204727 meters looking forward 50.000000 meters along route # Maximum depth: 921.159541 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.204727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779294; longitude = -122.082927; duration = 211; initialDepth = 849.407402; finalDepth = 864.204727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1940540000001 # Actual altitude: 58.1940540000001 # Commanded vehicle depth: 864.204727 # Seafloor depth: -921.159541 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907723 meters # Minimum depth: 899.407402 meters looking forward 50.000000 meters along route # Maximum depth: 908.630366 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.407402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779742; longitude = -122.082723; duration = 211; initialDepth = 831.653402; finalDepth = 849.407402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2229639999999 # Actual altitude: 59.2229639999999 # Commanded vehicle depth: 849.407402 # Seafloor depth: -908.630366 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907691 meters # Minimum depth: 881.653402 meters looking forward 50.000000 meters along route # Maximum depth: 891.401712 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.653402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780190; longitude = -122.082519; duration = 211; initialDepth = 816.904989; finalDepth = 831.653402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7483099999999 # Actual altitude: 59.7483099999999 # Commanded vehicle depth: 831.653402 # Seafloor depth: -891.401712 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907660 meters # Minimum depth: 866.904989 meters looking forward 50.000000 meters along route # Maximum depth: 877.337707 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.904989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780638; longitude = -122.082315; duration = 211; initialDepth = 805.093638; finalDepth = 816.904989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.432718 # Actual altitude: 60.432718 # Commanded vehicle depth: 816.904989 # Seafloor depth: -877.337707 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907630 meters # Minimum depth: 855.093638 meters looking forward 50.000000 meters along route # Maximum depth: 864.640269 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.093638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781085; longitude = -122.082111; duration = 211; initialDepth = 794.974793; finalDepth = 805.093638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.432718 # Actual altitude: 60.432718 # Commanded vehicle depth: 805.093638 # Seafloor depth: -864.640269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907598 meters # Minimum depth: 844.974793 meters looking forward 50.000000 meters along route # Maximum depth: 853.585060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.974793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781533; longitude = -122.081907; duration = 211; initialDepth = 794.647575; finalDepth = 794.974793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5466309999999 # Actual altitude: 59.5466309999999 # Commanded vehicle depth: 794.974793 # Seafloor depth: -853.585060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907567 meters # Minimum depth: 844.647575 meters looking forward 50.000000 meters along route # Maximum depth: 844.790882 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.647575 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781981; longitude = -122.081703; duration = 211; initialDepth = 793.878239; finalDepth = 794.647575; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.610267 # Actual altitude: 58.610267 # Commanded vehicle depth: 794.647575 # Seafloor depth: -844.790882 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907536 meters # Minimum depth: 843.878239 meters looking forward 50.000000 meters along route # Maximum depth: 844.186685 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.878239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782429; longitude = -122.081499; duration = 211; initialDepth = 793.825762; finalDepth = 793.878239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.168956 # Actual altitude: 50.168956 # Commanded vehicle depth: 793.878239 # Seafloor depth: -844.047195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907506 meters # Minimum depth: 843.825762 meters looking forward 50.000000 meters along route # Maximum depth: 845.776323 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.825762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782877; longitude = -122.081295; duration = 211; initialDepth = 798.280476; finalDepth = 793.825762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.168956 # Actual altitude: 50.168956 # Commanded vehicle depth: 793.825762 # Seafloor depth: -843.825762 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907474 meters # Minimum depth: 848.280476 meters looking forward 50.000000 meters along route # Maximum depth: 849.203014 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 798.280476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783324; longitude = -122.081091; duration = 211; initialDepth = 801.481196; finalDepth = 798.280476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.181013 # Actual altitude: 50.181013 # Commanded vehicle depth: 798.280476 # Seafloor depth: -848.461489 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907443 meters # Minimum depth: 851.481196 meters looking forward 50.000000 meters along route # Maximum depth: 853.844586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.481196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783772; longitude = -122.080887; duration = 211; initialDepth = 806.157442; finalDepth = 801.481196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.181013 # Actual altitude: 50.181013 # Commanded vehicle depth: 801.481196 # Seafloor depth: -851.481196 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907412 meters # Minimum depth: 856.157442 meters looking forward 50.000000 meters along route # Maximum depth: 860.219085 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.157442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784220; longitude = -122.080683; duration = 211; initialDepth = 812.527929; finalDepth = 806.157442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 806.157442 # Seafloor depth: -856.157442 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907381 meters # Minimum depth: 862.527929 meters looking forward 50.000000 meters along route # Maximum depth: 865.532487 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.527929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784668; longitude = -122.080479; duration = 211; initialDepth = 816.166067; finalDepth = 812.527929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 812.527929 # Seafloor depth: -862.527929 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907350 meters # Minimum depth: 866.166067 meters looking forward 50.000000 meters along route # Maximum depth: 870.974654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.166067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785116; longitude = -122.080275; duration = 211; initialDepth = 821.521946; finalDepth = 816.166067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 816.166067 # Seafloor depth: -866.166067 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907319 meters # Minimum depth: 871.521946 meters looking forward 50.000000 meters along route # Maximum depth: 872.031864 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.521946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785563; longitude = -122.080071; duration = 211; initialDepth = 814.824843; finalDepth = 821.521946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5099180000001 # Actual altitude: 50.5099180000001 # Commanded vehicle depth: 821.521946 # Seafloor depth: -872.031864 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907288 meters # Minimum depth: 864.824843 meters looking forward 50.000000 meters along route # Maximum depth: 871.008414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.824843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786011; longitude = -122.079867; duration = 211; initialDepth = 803.664555; finalDepth = 814.824843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.183571 # Actual altitude: 56.183571 # Commanded vehicle depth: 814.824843 # Seafloor depth: -871.008414 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907257 meters # Minimum depth: 853.664555 meters looking forward 50.000000 meters along route # Maximum depth: 863.132021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.664555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786459; longitude = -122.079663; duration = 211; initialDepth = 784.455790; finalDepth = 803.664555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4674660000001 # Actual altitude: 59.4674660000001 # Commanded vehicle depth: 803.664555 # Seafloor depth: -863.132021 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.661903 meters # Minimum depth: 834.455790 meters looking forward 50.000000 meters along route # Maximum depth: 853.050826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 784.455790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786907; longitude = -122.079459; duration = 218; initialDepth = 767.784201; finalDepth = 784.455790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.5950360000001 # Actual altitude: 68.5950360000001 # Commanded vehicle depth: 784.45579 # Seafloor depth: -853.050826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.152518 meters # Minimum depth: 817.784201 meters looking forward 50.000000 meters along route # Maximum depth: 833.700128 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 767.784201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787369; longitude = -122.079248; duration = 204; initialDepth = 747.225293; finalDepth = 767.784201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.5950360000001 # Actual altitude: 68.5950360000001 # Commanded vehicle depth: 767.784201 # Seafloor depth: -833.700128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907164 meters # Minimum depth: 797.225293 meters looking forward 50.000000 meters along route # Maximum depth: 804.124916 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 747.225293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787802; longitude = -122.079051; duration = 211; initialDepth = 733.924993; finalDepth = 747.225293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.9159269999999 # Actual altitude: 65.9159269999999 # Commanded vehicle depth: 747.225293 # Seafloor depth: -804.124916 # 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 1 # Segment length 52.907133 meters # Minimum depth: 783.924993 meters looking forward 50.000000 meters along route # Maximum depth: 791.100728 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 733.924993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788250; longitude = -122.078847; duration = 211; initialDepth = 714.856678; finalDepth = 733.924993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.175735 # Actual altitude: 57.175735 # Commanded vehicle depth: 733.924993 # Seafloor depth: -791.100728 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907101 meters # Minimum depth: 764.856678 meters looking forward 50.000000 meters along route # Maximum depth: 774.943388 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 714.856678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788698; longitude = -122.078643; duration = 211; initialDepth = 699.037562; finalDepth = 714.856678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.08671 # Actual altitude: 60.08671 # Commanded vehicle depth: 714.856678 # Seafloor depth: -774.943388 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907071 meters # Minimum depth: 749.037562 meters looking forward 50.000000 meters along route # Maximum depth: 758.546261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 699.037562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789146; longitude = -122.078439; duration = 211; initialDepth = 688.004476; finalDepth = 699.037562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.08671 # Actual altitude: 60.08671 # Commanded vehicle depth: 699.037562 # Seafloor depth: -758.546261 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907040 meters # Minimum depth: 738.004476 meters looking forward 50.000000 meters along route # Maximum depth: 741.337959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.004476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789593; longitude = -122.078235; duration = 211; initialDepth = 680.346101; finalDepth = 688.004476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.508699 # Actual altitude: 59.508699 # Commanded vehicle depth: 688.004476 # Seafloor depth: -741.337959 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.907009 meters # Minimum depth: 730.346101 meters looking forward 50.000000 meters along route # Maximum depth: 735.131418 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 680.346101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790041; longitude = -122.078031; duration = 211; initialDepth = 665.825135; finalDepth = 680.346101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7853170000001 # Actual altitude: 54.7853170000001 # Commanded vehicle depth: 680.346101 # Seafloor depth: -735.131418 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906977 meters # Minimum depth: 715.825135 meters looking forward 50.000000 meters along route # Maximum depth: 728.664143 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 665.825135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790489; longitude = -122.077827; duration = 211; initialDepth = 641.581862; finalDepth = 665.825135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.8390079999999 # Actual altitude: 62.8390079999999 # Commanded vehicle depth: 665.825135 # Seafloor depth: -728.664143 # 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 1 # Segment length 52.906947 meters # Minimum depth: 691.581862 meters looking forward 50.000000 meters along route # Maximum depth: 709.899003 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 641.581862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790937; longitude = -122.077623; duration = 211; initialDepth = 618.475384; finalDepth = 641.581862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.317141 # Actual altitude: 68.317141 # Commanded vehicle depth: 641.581862 # Seafloor depth: -709.899003 # 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 1 # Segment length 52.906916 meters # Minimum depth: 668.475384 meters looking forward 50.000000 meters along route # Maximum depth: 688.349335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 618.475384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791385; longitude = -122.077419; duration = 211; initialDepth = 596.278152; finalDepth = 618.475384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.873951 # Actual altitude: 69.873951 # Commanded vehicle depth: 618.475384 # Seafloor depth: -688.349335 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.248937 meters # Minimum depth: 646.278152 meters looking forward 50.000000 meters along route # Maximum depth: 666.782451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 596.278152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791832; longitude = -122.077215; duration = 212; initialDepth = 579.770701; finalDepth = 596.278152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5042990000001 # Actual altitude: 70.5042990000001 # Commanded vehicle depth: 596.278152 # Seafloor depth: -666.782451 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.564801 meters # Minimum depth: 629.770701 meters looking forward 50.000000 meters along route # Maximum depth: 646.079548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.770701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792283; longitude = -122.077009; duration = 210; initialDepth = 547.761701; finalDepth = 579.770701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5042990000001 # Actual altitude: 70.5042990000001 # Commanded vehicle depth: 579.770701 # Seafloor depth: -646.079548 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906822 meters # Minimum depth: 597.761701 meters looking forward 50.000000 meters along route # Maximum depth: 611.592395 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 547.761701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792728; longitude = -122.076806; duration = 211; initialDepth = 532.017276; finalDepth = 547.761701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.308847 # Actual altitude: 66.308847 # Commanded vehicle depth: 547.761701 # Seafloor depth: -611.592395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906792 meters # Minimum depth: 582.017276 meters looking forward 50.000000 meters along route # Maximum depth: 587.826910 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 532.017276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793176; longitude = -122.076602; duration = 211; initialDepth = 518.534876; finalDepth = 532.017276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.830694 # Actual altitude: 63.830694 # Commanded vehicle depth: 532.017276 # Seafloor depth: -587.826910 # 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 1 # Segment length 52.906761 meters # Minimum depth: 568.534876 meters looking forward 50.000000 meters along route # Maximum depth: 573.917146 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.534876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793623; longitude = -122.076398; duration = 211; initialDepth = 511.641692; finalDepth = 518.534876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.809634 # Actual altitude: 55.809634 # Commanded vehicle depth: 518.534876 # Seafloor depth: -573.917146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906729 meters # Minimum depth: 561.641692 meters looking forward 50.000000 meters along route # Maximum depth: 563.308106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 511.641692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794071; longitude = -122.076194; duration = 211; initialDepth = 507.822972; finalDepth = 511.641692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3822699999999 # Actual altitude: 55.3822699999999 # Commanded vehicle depth: 511.641692 # Seafloor depth: -561.641692 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906699 meters # Minimum depth: 557.822972 meters looking forward 50.000000 meters along route # Maximum depth: 559.327654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.822972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794519; longitude = -122.075990; duration = 211; initialDepth = 509.252194; finalDepth = 507.822972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.504682 # Actual altitude: 51.504682 # Commanded vehicle depth: 507.822972 # Seafloor depth: -559.327654 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906667 meters # Minimum depth: 559.252194 meters looking forward 50.000000 meters along route # Maximum depth: 560.391336 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 509.252194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794967; longitude = -122.075786; duration = 211; initialDepth = 503.206102; finalDepth = 509.252194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.504682 # Actual altitude: 51.504682 # Commanded vehicle depth: 509.252194 # Seafloor depth: -559.252194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906636 meters # Minimum depth: 553.206102 meters looking forward 50.000000 meters along route # Maximum depth: 554.943954 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 503.206102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795415; longitude = -122.075582; duration = 211; initialDepth = 500.971726; finalDepth = 503.206102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.869195 # Actual altitude: 50.869195 # Commanded vehicle depth: 503.206102 # Seafloor depth: -554.075297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906606 meters # Minimum depth: 550.971726 meters looking forward 50.000000 meters along route # Maximum depth: 552.568562 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.971726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795862; longitude = -122.075378; duration = 211; initialDepth = 487.017342; finalDepth = 500.971726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.869195 # Actual altitude: 50.869195 # Commanded vehicle depth: 500.971726 # Seafloor depth: -550.971726 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906574 meters # Minimum depth: 537.017342 meters looking forward 50.000000 meters along route # Maximum depth: 548.711952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.017342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796310; longitude = -122.075174; duration = 211; initialDepth = 452.480722; finalDepth = 487.017342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.69461 # Actual altitude: 61.69461 # Commanded vehicle depth: 487.017342 # Seafloor depth: -548.711952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906544 meters # Minimum depth: 502.480722 meters looking forward 50.000000 meters along route # Maximum depth: 535.445331 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.480722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796758; longitude = -122.074970; duration = 211; initialDepth = 432.750211; finalDepth = 452.480722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.964609 # Actual altitude: 82.964609 # Commanded vehicle depth: 452.480722 # Seafloor depth: -535.445331 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906512 meters # Minimum depth: 482.750211 meters looking forward 50.000000 meters along route # Maximum depth: 501.764429 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.750211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797206; longitude = -122.074766; duration = 211; initialDepth = 399.905421; finalDepth = 432.750211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.964609 # Actual altitude: 82.964609 # Commanded vehicle depth: 432.750211 # Seafloor depth: -501.764429 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906481 meters # Minimum depth: 449.905421 meters looking forward 50.000000 meters along route # Maximum depth: 462.030666 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.905421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797654; longitude = -122.074562; duration = 211; initialDepth = 375.418425; finalDepth = 399.905421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.014218 # Actual altitude: 69.014218 # Commanded vehicle depth: 399.905421 # Seafloor depth: -462.030666 # 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 1 # Segment length 52.906451 meters # Minimum depth: 425.418425 meters looking forward 50.000000 meters along route # Maximum depth: 436.713547 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.418425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798101; longitude = -122.074358; duration = 211; initialDepth = 351.627041; finalDepth = 375.418425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.125245 # Actual altitude: 62.125245 # Commanded vehicle depth: 375.418425 # Seafloor depth: -436.713547 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906419 meters # Minimum depth: 401.627041 meters looking forward 50.000000 meters along route # Maximum depth: 413.530961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.627041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798549; longitude = -122.074154; duration = 211; initialDepth = 323.634385; finalDepth = 351.627041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.90392 # Actual altitude: 61.90392 # Commanded vehicle depth: 351.627041 # Seafloor depth: -413.530961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906388 meters # Minimum depth: 373.634385 meters looking forward 50.000000 meters along route # Maximum depth: 388.105878 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.634385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798997; longitude = -122.073950; duration = 211; initialDepth = 287.893566; finalDepth = 323.634385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.471493 # Actual altitude: 64.471493 # Commanded vehicle depth: 323.634385 # Seafloor depth: -388.105878 # 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 1 # Segment length 52.906357 meters # Minimum depth: 337.893566 meters looking forward 50.000000 meters along route # Maximum depth: 359.581819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.893566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799445; longitude = -122.073746; duration = 211; initialDepth = 252.614961; finalDepth = 287.893566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.688253 # Actual altitude: 71.688253 # Commanded vehicle depth: 287.893566 # Seafloor depth: -359.581819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906327 meters # Minimum depth: 302.614961 meters looking forward 50.000000 meters along route # Maximum depth: 320.745060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.614961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799893; longitude = -122.073542; duration = 211; initialDepth = 222.836354; finalDepth = 252.614961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.688253 # Actual altitude: 71.688253 # Commanded vehicle depth: 252.614961 # Seafloor depth: -320.745060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906295 meters # Minimum depth: 272.836354 meters looking forward 50.000000 meters along route # Maximum depth: 289.632353 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.836354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800340; longitude = -122.073338; duration = 211; initialDepth = 197.930104; finalDepth = 222.836354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.130099 # Actual altitude: 68.130099 # Commanded vehicle depth: 222.836354 # Seafloor depth: -289.632353 # 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 1 # Segment length 52.906264 meters # Minimum depth: 247.930104 meters looking forward 50.000000 meters along route # Maximum depth: 264.502255 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.930104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800788; longitude = -122.073134; duration = 211; initialDepth = 167.399580; finalDepth = 197.930104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.795999 # Actual altitude: 66.795999 # Commanded vehicle depth: 197.930104 # Seafloor depth: -264.502255 # 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 1 # Segment length 52.906233 meters # Minimum depth: 217.399580 meters looking forward 50.000000 meters along route # Maximum depth: 242.007103 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.399580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801236; longitude = -122.072930; duration = 211; initialDepth = 138.862671; finalDepth = 167.399580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.607523 # Actual altitude: 74.607523 # Commanded vehicle depth: 167.39958 # Seafloor depth: -242.007103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906202 meters # Minimum depth: 188.862671 meters looking forward 50.000000 meters along route # Maximum depth: 212.738681 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.862671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801684; longitude = -122.072726; duration = 211; initialDepth = 110.845567; finalDepth = 138.862671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.607523 # Actual altitude: 74.607523 # Commanded vehicle depth: 138.862671 # Seafloor depth: -212.738681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 29.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.572387 meters # Minimum depth: 160.845567 meters looking forward 50.000000 meters along route # Maximum depth: 187.762924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.845567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802131; longitude = -122.072522; duration = 222; initialDepth = 102.574434; finalDepth = 110.845567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.917357 # Actual altitude: 76.917357 # Commanded vehicle depth: 110.845567 # Seafloor depth: -187.762924 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.239925 meters # Minimum depth: 152.574434 meters looking forward 50.000000 meters along route # Maximum depth: 159.876652 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.574434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802602; longitude = -122.072308; duration = 200; initialDepth = 91.671244; finalDepth = 102.574434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.917357 # Actual altitude: 76.917357 # Commanded vehicle depth: 102.574434 # Seafloor depth: -159.876652 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906109 meters # Minimum depth: 141.671244 meters looking forward 50.000000 meters along route # Maximum depth: 147.609974 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.671244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803027; longitude = -122.072114; duration = 211; initialDepth = 84.579999; finalDepth = 91.671244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.302218 # Actual altitude: 57.302218 # Commanded vehicle depth: 91.671244 # Seafloor depth: -147.609974 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906078 meters # Minimum depth: 134.579999 meters looking forward 50.000000 meters along route # Maximum depth: 137.026511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.579999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803475; longitude = -122.071910; duration = 211; initialDepth = 80.699434; finalDepth = 84.579999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.93873 # Actual altitude: 55.93873 # Commanded vehicle depth: 84.579999 # Seafloor depth: -137.026511 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906047 meters # Minimum depth: 130.699434 meters looking forward 50.000000 meters along route # Maximum depth: 133.087106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.699434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803923; longitude = -122.071706; duration = 211; initialDepth = 71.641093; finalDepth = 80.699434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.446512 # Actual altitude: 52.446512 # Commanded vehicle depth: 80.699434 # Seafloor depth: -133.087106 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.906016 meters # Minimum depth: 121.641093 meters looking forward 50.000000 meters along route # Maximum depth: 127.169946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.641093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804370; longitude = -122.071502; duration = 211; initialDepth = 69.590068; finalDepth = 71.641093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.528853 # Actual altitude: 55.528853 # Commanded vehicle depth: 71.641093 # Seafloor depth: -127.169946 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905985 meters # Minimum depth: 119.590068 meters looking forward 50.000000 meters along route # Maximum depth: 119.751873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.590068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804818; longitude = -122.071298; duration = 211; initialDepth = 66.356173; finalDepth = 69.590068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.528853 # Actual altitude: 55.528853 # Commanded vehicle depth: 69.590068 # Seafloor depth: -119.751873 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905954 meters # Minimum depth: 116.356173 meters looking forward 50.000000 meters along route # Maximum depth: 118.572711 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.356173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805266; longitude = -122.071094; duration = 211; initialDepth = 64.924496; finalDepth = 66.356173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.216538 # Actual altitude: 52.216538 # Commanded vehicle depth: 66.356173 # Seafloor depth: -118.572711 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905923 meters # Minimum depth: 114.924496 meters looking forward 50.000000 meters along route # Maximum depth: 115.566214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.924496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805714; longitude = -122.070890; duration = 211; initialDepth = 59.828128; finalDepth = 64.924496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.216538 # Actual altitude: 52.216538 # Commanded vehicle depth: 64.924496 # Seafloor depth: -115.566214 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905892 meters # Minimum depth: 109.828128 meters looking forward 50.000000 meters along route # Maximum depth: 114.498311 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.828128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806162; longitude = -122.070686; duration = 211; initialDepth = 51.900530; finalDepth = 59.828128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.670183 # Actual altitude: 54.670183 # Commanded vehicle depth: 59.828128 # Seafloor depth: -114.498311 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905860 meters # Minimum depth: 101.900530 meters looking forward 50.000000 meters along route # Maximum depth: 109.179254 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.900530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806609; longitude = -122.070482; duration = 211; initialDepth = 50.835820; finalDepth = 51.900530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.278724 # Actual altitude: 57.278724 # Commanded vehicle depth: 51.90053 # Seafloor depth: -109.179254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.159444 meters # Minimum depth: 100.835820 meters looking forward 50.000000 meters along route # Maximum depth: 101.732907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.835820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807057; longitude = -122.070278; duration = 216; initialDepth = 50.848177; finalDepth = 50.835820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.278724 # Actual altitude: 57.278724 # Commanded vehicle depth: 50.83582 # Seafloor depth: -101.732907 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.652185 meters # Minimum depth: 100.848177 meters looking forward 50.000000 meters along route # Maximum depth: 101.280416 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.848177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807516; longitude = -122.070069; duration = 206; initialDepth = 51.365464; finalDepth = 50.848177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.897087 # Actual altitude: 50.897087 # Commanded vehicle depth: 50.848177 # Seafloor depth: -100.848177 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905768 meters # Minimum depth: 101.365464 meters looking forward 50.000000 meters along route # Maximum depth: 101.405651 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.365464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807953; longitude = -122.069870; duration = 211; initialDepth = 51.218060; finalDepth = 51.365464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 51.365464 # Seafloor depth: -101.365464 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905737 meters # Minimum depth: 101.218060 meters looking forward 50.000000 meters along route # Maximum depth: 101.283034 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.218060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808401; longitude = -122.069666; duration = 211; initialDepth = 50.846839; finalDepth = 51.218060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.064974 # Actual altitude: 50.064974 # Commanded vehicle depth: 51.21806 # Seafloor depth: -101.283034 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905706 meters # Minimum depth: 100.846839 meters looking forward 50.000000 meters along route # Maximum depth: 101.115061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.846839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808848; longitude = -122.069462; duration = 211; initialDepth = 50.634648; finalDepth = 50.846839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.064974 # Actual altitude: 50.064974 # Commanded vehicle depth: 50.846839 # Seafloor depth: -100.846839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905675 meters # Minimum depth: 100.634648 meters looking forward 50.000000 meters along route # Maximum depth: 100.854424 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.634648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809296; longitude = -122.069258; duration = 211; initialDepth = 50.335880; finalDepth = 50.634648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.219776 # Actual altitude: 50.219776 # Commanded vehicle depth: 50.634648 # Seafloor depth: -100.854424 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905643 meters # Minimum depth: 100.335880 meters looking forward 50.000000 meters along route # Maximum depth: 100.684390 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.335880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809744; longitude = -122.069054; duration = 211; initialDepth = 49.737066; finalDepth = 50.335880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.34851 # Actual altitude: 50.34851 # Commanded vehicle depth: 50.33588 # Seafloor depth: -100.684390 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905613 meters # Minimum depth: 99.737066 meters looking forward 50.000000 meters along route # Maximum depth: 99.882213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.737066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810192; longitude = -122.068850; duration = 211; initialDepth = 49.600245; finalDepth = 49.737066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.34851 # Actual altitude: 50.34851 # Commanded vehicle depth: 49.737066 # Seafloor depth: -99.737066 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.905582 meters # Minimum depth: 99.600245 meters looking forward 50.000000 meters along route # Maximum depth: 99.933412 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.600245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810639; longitude = -122.068646; duration = 211; initialDepth = 50.020367; finalDepth = 49.600245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 49.600245 # Seafloor depth: -99.600245 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 61.764688 meters # Minimum depth: 100.020367 meters looking forward 50.000000 meters along route # Maximum depth: 100.140839 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.020367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811087; longitude = -122.068442; duration = 247; initialDepth = 50.020367; finalDepth = 50.020367; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.120472 # Actual altitude: 50.120472 # Commanded vehicle depth: 50.020367 # Seafloor depth: -100.140839 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.05; 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: 50.120472 # Sonar parameter altitude: 50.120472 # Commanded vehicle depth: 50.020367 # Seafloor depth: -100.041733 # behavior edgetech { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 280.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; } behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 20.05; 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: 100.020367 meters looking forward 50.000000 meters along route # Maximum depth: 100.100012 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1423.184953 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.020367 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.811610; longitude = -122.068204; duration = 2000; depth = 50.020367; 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 = 145.0; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 145.0; 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 edgetech { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 280.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; } behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000033; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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; } # ####################################################### ####################################################### ####################################################### #######################################################