# 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: 20190308_PatchTest_1v1.rte # Mission File: 20190308_PatchTest_1v1.cfg # Distance: 4893 (m) 4.893 (km) # Estimated Time: 6187 (s) 1.719 (hr) # Abort Time: 9281 (s) 2.578 (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: 358 (s) 0.100 (hr) # Ascend time: 564 (s) 0.157 (hr) # Way Points: 11 # Route Points: 89 # 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 disabled # Low sidescan disabled # 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: 367.412119 (m) # Abort Vehicle Depth: 392.412119 (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 -121.872006 36.778781 -99.696798 0.000000 3 # 1 -121.883807 36.789025 -347.385824 1549.390990 3 # 2 -121.889296 36.794072 -396.375895 2293.329700 3 # 3 -121.885226 36.790317 -384.148071 2846.031528 3 # 4 -121.885002 36.793922 -377.766154 3246.476026 3 # 5 -121.891537 36.789115 -386.904500 4036.668656 3 # 6 -121.890155 36.790137 -386.646118 4204.126175 3 # 7 -121.889259 36.790768 -385.317749 4310.400890 5 # 8 -121.888138 36.791579 -383.136149 4444.902996 5 # 9 -121.886943 36.792450 -379.389119 4588.817910 3 # 10 -121.884479 36.794343 -378.348470 4892.876387 4 # # A total of 89 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9281; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 367.412119; abortDepth = 392.412119; 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 = 564; 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 91.699785 meters # Minimum depth: 376.067841 meters looking forward 50.000000 meters along route # Maximum depth: 379.296915 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.067841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794343; longitude = -121.884479; duration = 366; # abortOnTimeout = True; initialDepth = 329.306297; finalDepth = 326.067841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.280629 # Actual altitude: 52.280629 # Commanded vehicle depth: 326.067841 # Seafloor depth: -378.348470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.115099 meters # Minimum depth: 379.306297 meters looking forward 50.000000 meters along route # Maximum depth: 380.796421 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.306297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.885222; duration = 204; initialDepth = 330.314325; finalDepth = 329.306297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.280629 # Actual altitude: 52.280629 # Commanded vehicle depth: 329.306297 # Seafloor depth: -379.306297 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.283400 meters # Minimum depth: 380.314325 meters looking forward 50.000000 meters along route # Maximum depth: 381.808313 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.314325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793454; longitude = -121.885636; duration = 221; initialDepth = 330.309886; finalDepth = 330.314325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6485 # Actual altitude: 50.6485 # Commanded vehicle depth: 330.314325 # Seafloor depth: -380.962825 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.283523 meters # Minimum depth: 380.309886 meters looking forward 50.000000 meters along route # Maximum depth: 381.674091 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.309886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793109; longitude = -121.886085; duration = 221; initialDepth = 329.427385; finalDepth = 330.309886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6485 # Actual altitude: 50.6485 # Commanded vehicle depth: 330.309886 # Seafloor depth: -380.350396 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.676670 meters # Minimum depth: 379.427385 meters looking forward 50.000000 meters along route # Maximum depth: 381.667506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.427385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792765; longitude = -121.886533; duration = 202; initialDepth = 329.389119; finalDepth = 329.427385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.240121 # Actual altitude: 52.240121 # Commanded vehicle depth: 329.427385 # Seafloor depth: -381.667506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; 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 85.449378 meters # Minimum depth: 379.389119 meters looking forward 50.000000 meters along route # Maximum depth: 381.555466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.389119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792450; longitude = -121.886943; duration = 341; # abortOnTimeout = True; initialDepth = 306.958884; finalDepth = 329.389119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.240121 # Actual altitude: 52.240121 # Commanded vehicle depth: 329.389119 # Seafloor depth: -379.389119 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 58.465536 meters # Minimum depth: 381.958884 meters looking forward 50.000000 meters along route # Maximum depth: 383.006784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.958884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791933; longitude = -121.887653; duration = 233; initialDepth = 307.751990; finalDepth = 306.958884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75 # Actual altitude: 75 # Commanded vehicle depth: 306.958884 # Seafloor depth: -381.958884 # 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 8 # Segment length 76.217769 meters # Minimum depth: 382.751990 meters looking forward 50.000000 meters along route # Maximum depth: 384.851711 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.751990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791579; longitude = -121.888138; duration = 304; # abortOnTimeout = True; initialDepth = 309.238484; finalDepth = 307.751990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.384159 # Actual altitude: 75.384159 # Commanded vehicle depth: 307.75199 # Seafloor depth: -383.136149 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 58.284337 meters # Minimum depth: 384.238484 meters looking forward 50.000000 meters along route # Maximum depth: 385.256227 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.238484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791119; longitude = -121.888773; duration = 233; initialDepth = 309.696607; finalDepth = 309.238484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75.384159 # Actual altitude: 75.384159 # Commanded vehicle depth: 309.238484 # Seafloor depth: -384.332056 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 55.667650 meters # Minimum depth: 384.696607 meters looking forward 50.000000 meters along route # Maximum depth: 386.045298 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.696607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790768; longitude = -121.889259; duration = 222; # abortOnTimeout = True; initialDepth = 324.612709; finalDepth = 309.696607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.621142 # Actual altitude: 75.621142 # Commanded vehicle depth: 309.696607 # Seafloor depth: -385.317749 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 50.607065 meters # Minimum depth: 385.724831 meters looking forward 50.000000 meters along route # Maximum depth: 386.312824 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.612709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.889728; duration = 202; initialDepth = 335.690215; finalDepth = 324.612709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 75.621142 # Actual altitude: 75.621142 # Commanded vehicle depth: 324.612708595588 # Seafloor depth: -386.123596 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 54.177307 meters # Minimum depth: 385.690215 meters looking forward 50.000000 meters along route # Maximum depth: 386.682464 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.690215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790137; longitude = -121.890155; duration = 216; # abortOnTimeout = True; initialDepth = 335.949632; finalDepth = 335.690215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5108874044118 # Actual altitude: 61.5108874044118 # Commanded vehicle depth: 335.690215 # Seafloor depth: -386.646118 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 59.102654 meters # Minimum depth: 385.949632 meters looking forward 50.000000 meters along route # Maximum depth: 387.423630 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.949632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.890602; duration = 236; initialDepth = 336.105623; finalDepth = 335.949632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.955903 # Actual altitude: 50.955903 # Commanded vehicle depth: 335.949632 # Seafloor depth: -386.219993 # 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 6 # Segment length 54.177558 meters # Minimum depth: 386.105623 meters looking forward 50.000000 meters along route # Maximum depth: 387.876435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.105623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.891090; duration = 216; initialDepth = 335.953668; finalDepth = 336.105623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.323864 # Actual altitude: 50.323864 # Commanded vehicle depth: 336.105623 # Seafloor depth: -386.429487 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 76.762687 meters # Minimum depth: 385.953668 meters looking forward 50.000000 meters along route # Maximum depth: 386.904500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.953668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789115; longitude = -121.891537; duration = 307; # abortOnTimeout = True; initialDepth = 336.077679; finalDepth = 335.953668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.950832 # Actual altitude: 50.950832 # Commanded vehicle depth: 335.953668 # Seafloor depth: -386.904500 # 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 5 # Segment length 54.185281 meters # Minimum depth: 386.077679 meters looking forward 50.000000 meters along route # Maximum depth: 387.438481 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.077679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789582; longitude = -121.890902; duration = 216; initialDepth = 335.653167; finalDepth = 336.077679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.950832 # Actual altitude: 50.950832 # Commanded vehicle depth: 336.077679 # Seafloor depth: -386.869804 # 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 5 # Segment length 56.725088 meters # Minimum depth: 385.653167 meters looking forward 50.000000 meters along route # Maximum depth: 386.705291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.653167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789912; longitude = -121.890454; duration = 226; initialDepth = 335.580553; finalDepth = 335.653167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.052124 # Actual altitude: 51.052124 # Commanded vehicle depth: 335.653167 # Seafloor depth: -386.705291 # 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 5 # Segment length 51.645115 meters # Minimum depth: 385.580553 meters looking forward 50.000000 meters along route # Maximum depth: 386.165046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.580553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790257; longitude = -121.889985; duration = 206; initialDepth = 334.918875; finalDepth = 335.580553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.052124 # Actual altitude: 51.052124 # Commanded vehicle depth: 335.580553 # Seafloor depth: -386.028351 # 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 5 # Segment length 54.184922 meters # Minimum depth: 384.918875 meters looking forward 50.000000 meters along route # Maximum depth: 385.931143 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.918875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790571; longitude = -121.889557; duration = 216; initialDepth = 333.878361; finalDepth = 334.918875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.012268 # Actual altitude: 51.012268 # Commanded vehicle depth: 334.918875 # Seafloor depth: -385.931143 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 57.148031 meters # Minimum depth: 383.878361 meters looking forward 50.000000 meters along route # Maximum depth: 385.289926 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.878361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790901; longitude = -121.889109; duration = 228; initialDepth = 332.957384; finalDepth = 333.878361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.411565 # Actual altitude: 51.411565 # Commanded vehicle depth: 333.878361 # Seafloor depth: -385.289926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 51.221454 meters # Minimum depth: 382.957384 meters looking forward 50.000000 meters along route # Maximum depth: 384.777764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.957384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.888637; duration = 204; initialDepth = 332.662164; finalDepth = 332.957384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.82038 # Actual altitude: 51.82038 # Commanded vehicle depth: 332.957384 # Seafloor depth: -384.777764 # 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 5 # Segment length 54.184563 meters # Minimum depth: 382.662164 meters looking forward 50.000000 meters along route # Maximum depth: 383.824744 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.662164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791560; longitude = -121.888213; duration = 216; initialDepth = 329.814507; finalDepth = 332.662164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.82038 # Actual altitude: 51.82038 # Commanded vehicle depth: 332.662164 # Seafloor depth: -383.824744 # 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 5 # Segment length 57.570966 meters # Minimum depth: 379.814507 meters looking forward 50.000000 meters along route # Maximum depth: 382.665476 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.814507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791889; longitude = -121.887765; duration = 230; initialDepth = 328.965145; finalDepth = 329.814507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.850969 # Actual altitude: 52.850969 # Commanded vehicle depth: 329.814507 # Seafloor depth: -382.665476 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.797799 meters # Minimum depth: 378.965145 meters looking forward 50.000000 meters along route # Maximum depth: 381.335514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.965145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -121.887289; duration = 203; initialDepth = 329.566563; finalDepth = 328.965145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.850969 # Actual altitude: 52.850969 # Commanded vehicle depth: 328.965145 # Seafloor depth: -379.779137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.184204 meters # Minimum depth: 379.566563 meters looking forward 50.000000 meters along route # Maximum depth: 381.499893 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.566563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792549; longitude = -121.886869; duration = 216; initialDepth = 330.145003; finalDepth = 329.566563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.833601 # Actual altitude: 50.833601 # Commanded vehicle depth: 329.566563 # Seafloor depth: -380.400164 # 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 5 # Segment length 57.993897 meters # Minimum depth: 380.145003 meters looking forward 50.000000 meters along route # Maximum depth: 381.751615 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.145003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792878; longitude = -121.886421; duration = 231; initialDepth = 330.277264; finalDepth = 330.145003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.833601 # Actual altitude: 50.833601 # Commanded vehicle depth: 330.145003 # Seafloor depth: -380.300250 # 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 5 # Segment length 59.263695 meters # Minimum depth: 380.277264 meters looking forward 50.000000 meters along route # Maximum depth: 381.775265 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.277264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793231; longitude = -121.885941; duration = 237; initialDepth = 327.512136; finalDepth = 330.277264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.155247 # Actual altitude: 50.155247 # Commanded vehicle depth: 330.277264 # Seafloor depth: -380.277264 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.324928 meters # Minimum depth: 377.512136 meters looking forward 50.000000 meters along route # Maximum depth: 380.700137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.512136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.885451; duration = 217; initialDepth = 327.723493; finalDepth = 327.512136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.188001 # Actual altitude: 53.188001 # Commanded vehicle depth: 327.512136 # Seafloor depth: -380.700137 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.28; 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 4 # Segment length 46.718535 meters # Minimum depth: 377.723493 meters looking forward 50.000000 meters along route # Maximum depth: 381.451066 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.723493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793922; longitude = -121.885002; duration = 186; # abortOnTimeout = True; initialDepth = 330.767303; finalDepth = 327.723493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.188001 # Actual altitude: 53.188001 # Commanded vehicle depth: 327.723493 # Seafloor depth: -377.766154 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.055571 meters # Minimum depth: 380.767303 meters looking forward 50.000000 meters along route # Maximum depth: 381.936157 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.767303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.885028; duration = 200; initialDepth = 332.033040; finalDepth = 330.767303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.042661 # Actual altitude: 50.042661 # Commanded vehicle depth: 330.767303 # Seafloor depth: -380.767303 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.055567 meters # Minimum depth: 382.033040 meters looking forward 50.000000 meters along route # Maximum depth: 383.844879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.033040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -121.885056; duration = 200; initialDepth = 332.064357; finalDepth = 332.033040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.03304 # Seafloor depth: -382.033040 # 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 50.055564 meters # Minimum depth: 382.064357 meters looking forward 50.000000 meters along route # Maximum depth: 382.905940 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.064357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.885084; duration = 200; initialDepth = 332.498113; finalDepth = 332.064357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.410629 # Actual altitude: 50.410629 # Commanded vehicle depth: 332.064357 # Seafloor depth: -382.474986 # 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 4 # Segment length 50.055561 meters # Minimum depth: 382.498113 meters looking forward 50.000000 meters along route # Maximum depth: 383.439014 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.498113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.885112; duration = 200; initialDepth = 333.345835; finalDepth = 332.498113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.764112 # Actual altitude: 50.764112 # Commanded vehicle depth: 332.498113 # Seafloor depth: -383.262225 # 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 4 # Segment length 50.055558 meters # Minimum depth: 383.345835 meters looking forward 50.000000 meters along route # Maximum depth: 383.520888 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.345835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -121.885140; duration = 200; initialDepth = 333.644950; finalDepth = 333.345835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.764112 # Actual altitude: 50.764112 # Commanded vehicle depth: 333.345835 # Seafloor depth: -383.358554 # 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 4 # Segment length 50.055554 meters # Minimum depth: 383.644950 meters looking forward 50.000000 meters along route # Maximum depth: 384.298985 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.644950 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.885168; duration = 200; initialDepth = 333.722125; finalDepth = 333.644950; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.473516 # Actual altitude: 50.473516 # Commanded vehicle depth: 333.64495 # Seafloor depth: -384.118466 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 53.392588 meters # Minimum depth: 383.722125 meters looking forward 50.000000 meters along route # Maximum depth: 384.513648 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.722125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790798; longitude = -121.885196; duration = 213; initialDepth = 333.645909; finalDepth = 333.722125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.473516 # Actual altitude: 50.473516 # Commanded vehicle depth: 333.722125 # Seafloor depth: -383.722125 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 70.989894 meters # Minimum depth: 383.645909 meters looking forward 50.000000 meters along route # Maximum depth: 384.148071 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.645909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790317; longitude = -121.885226; duration = 283; # abortOnTimeout = True; initialDepth = 334.084013; finalDepth = 333.645909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.502162 # Actual altitude: 50.502162 # Commanded vehicle depth: 333.645909 # Seafloor depth: -384.148071 # 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 3 # Segment length 52.816353 meters # Minimum depth: 384.084013 meters looking forward 50.000000 meters along route # Maximum depth: 385.171489 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.084013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790799; longitude = -121.885748; duration = 211; initialDepth = 332.383605; finalDepth = 334.084013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.502162 # Actual altitude: 50.502162 # Commanded vehicle depth: 334.084013 # Seafloor depth: -384.084013 # 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 3 # Segment length 53.668119 meters # Minimum depth: 382.383605 meters looking forward 50.000000 meters along route # Maximum depth: 384.356485 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.383605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.886137; duration = 214; initialDepth = 332.400586; finalDepth = 332.383605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.97288 # Actual altitude: 51.97288 # Commanded vehicle depth: 332.383605 # Seafloor depth: -384.356485 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 52.451045 meters # Minimum depth: 382.400586 meters looking forward 50.000000 meters along route # Maximum depth: 383.212542 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.400586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791523; longitude = -121.886533; duration = 209; initialDepth = 329.705374; finalDepth = 332.400586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.97288 # Actual altitude: 51.97288 # Commanded vehicle depth: 332.400586 # Seafloor depth: -382.400586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 54.032983 meters # Minimum depth: 379.705374 meters looking forward 50.000000 meters along route # Maximum depth: 382.522919 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.705374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791879; longitude = -121.886919; duration = 216; initialDepth = 329.219434; finalDepth = 329.705374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.817545 # Actual altitude: 52.817545 # Commanded vehicle depth: 329.705374 # Seafloor depth: -382.522919 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 52.085741 meters # Minimum depth: 379.219434 meters looking forward 50.000000 meters along route # Maximum depth: 380.922718 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.219434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792246; longitude = -121.887317; duration = 208; initialDepth = 327.951617; finalDepth = 329.219434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.817545 # Actual altitude: 52.817545 # Commanded vehicle depth: 329.219434 # Seafloor depth: -379.791690 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 54.397845 meters # Minimum depth: 377.951617 meters looking forward 50.000000 meters along route # Maximum depth: 380.352853 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.951617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.887700; duration = 217; initialDepth = 326.887651; finalDepth = 327.951617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.354866 # Actual altitude: 51.354866 # Commanded vehicle depth: 327.951617 # Seafloor depth: -379.306483 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 51.720438 meters # Minimum depth: 376.887651 meters looking forward 50.000000 meters along route # Maximum depth: 379.870861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.887651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792970; longitude = -121.888101; duration = 206; initialDepth = 330.694318; finalDepth = 326.887651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.179931 # Actual altitude: 52.179931 # Commanded vehicle depth: 326.887651 # Seafloor depth: -379.067582 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 54.762703 meters # Minimum depth: 380.694318 meters looking forward 50.000000 meters along route # Maximum depth: 392.416180 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.694318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.888482; duration = 219; initialDepth = 342.412119; finalDepth = 330.694318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.179931 # Actual altitude: 52.179931 # Commanded vehicle depth: 330.694318 # Seafloor depth: -380.694318 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.776707 meters # Minimum depth: 392.412119 meters looking forward 50.000000 meters along route # Maximum depth: 396.201149 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.412119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793693; longitude = -121.888885; duration = 223; initialDepth = 342.405064; finalDepth = 342.412119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 342.412119 # Seafloor depth: -392.412119 # 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; } # ####################################################### # # 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 57.565911 meters # Minimum depth: 392.405064 meters looking forward 50.000000 meters along route # Maximum depth: 396.375895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.405064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794072; longitude = -121.889296; duration = 230; # abortOnTimeout = True; initialDepth = 331.106524; finalDepth = 342.405064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.970831 # Actual altitude: 53.970831 # Commanded vehicle depth: 342.405064 # Seafloor depth: -396.375895 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.137880 meters # Minimum depth: 381.106524 meters looking forward 50.000000 meters along route # Maximum depth: 392.409355 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.106524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793682; longitude = -121.888871; duration = 212; initialDepth = 326.910884; finalDepth = 331.106524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.302831 # Actual altitude: 61.302831 # Commanded vehicle depth: 331.106524 # Seafloor depth: -392.409355 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.137990 meters # Minimum depth: 376.910884 meters looking forward 50.000000 meters along route # Maximum depth: 380.690956 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.910884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.888479; duration = 212; initialDepth = 327.943665; finalDepth = 326.910884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.302831 # Actual altitude: 61.302831 # Commanded vehicle depth: 326.910884 # Seafloor depth: -380.690956 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138101 meters # Minimum depth: 377.943665 meters looking forward 50.000000 meters along route # Maximum depth: 380.315010 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.943665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -121.888087; duration = 212; initialDepth = 329.170541; finalDepth = 327.943665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.780072 # Actual altitude: 53.780072 # Commanded vehicle depth: 327.943665 # Seafloor depth: -379.206142 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138212 meters # Minimum depth: 379.170541 meters looking forward 50.000000 meters along route # Maximum depth: 380.942757 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.170541 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.887695; duration = 212; initialDepth = 329.729565; finalDepth = 329.170541; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.262477 # Actual altitude: 51.262477 # Commanded vehicle depth: 329.170541 # Seafloor depth: -379.341846 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138322 meters # Minimum depth: 379.729565 meters looking forward 50.000000 meters along route # Maximum depth: 381.777679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.729565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -121.887303; duration = 212; initialDepth = 332.337311; finalDepth = 329.729565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.171305 # Actual altitude: 50.171305 # Commanded vehicle depth: 329.729565 # Seafloor depth: -379.729565 # 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 2 # Segment length 53.138433 meters # Minimum depth: 382.337311 meters looking forward 50.000000 meters along route # Maximum depth: 383.186240 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.337311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791879; longitude = -121.886911; duration = 212; initialDepth = 332.391254; finalDepth = 332.337311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.251884 # Actual altitude: 50.251884 # Commanded vehicle depth: 332.337311 # Seafloor depth: -382.589195 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138544 meters # Minimum depth: 382.391254 meters looking forward 50.000000 meters along route # Maximum depth: 384.121246 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.391254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.886519; duration = 212; initialDepth = 334.164939; finalDepth = 332.391254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.251884 # Actual altitude: 50.251884 # Commanded vehicle depth: 332.391254 # Seafloor depth: -382.391254 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138655 meters # Minimum depth: 384.164939 meters looking forward 50.000000 meters along route # Maximum depth: 385.107596 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.164939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.886127; duration = 212; initialDepth = 333.630554; finalDepth = 334.164939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.295979 # Actual altitude: 50.295979 # Commanded vehicle depth: 334.164939 # Seafloor depth: -384.460918 # 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 2 # Segment length 53.138765 meters # Minimum depth: 383.630554 meters looking forward 50.000000 meters along route # Maximum depth: 383.999989 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 333.630554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790798; longitude = -121.885734; duration = 212; initialDepth = 332.265900; finalDepth = 333.630554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.369435 # Actual altitude: 50.369435 # Commanded vehicle depth: 333.630554 # Seafloor depth: -383.999989 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.138876 meters # Minimum depth: 382.265900 meters looking forward 50.000000 meters along route # Maximum depth: 384.388580 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.265900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.885342; duration = 212; initialDepth = 323.590785; finalDepth = 332.265900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.773021 # Actual altitude: 51.773021 # Commanded vehicle depth: 332.2659 # Seafloor depth: -384.038921 # 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 2 # Segment length 53.138987 meters # Minimum depth: 373.590785 meters looking forward 50.000000 meters along route # Maximum depth: 382.180195 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.590785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.884950; duration = 212; initialDepth = 311.104111; finalDepth = 323.590785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.58941 # Actual altitude: 58.58941 # Commanded vehicle depth: 323.590785 # Seafloor depth: -382.180195 # 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 2 # Segment length 51.241270 meters # Minimum depth: 361.104111 meters looking forward 50.000000 meters along route # Maximum depth: 371.108685 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.104111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -121.884558; duration = 204; initialDepth = 298.832145; finalDepth = 311.104111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.004574 # Actual altitude: 60.004574 # Commanded vehicle depth: 311.104111 # Seafloor depth: -371.108685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.608764 meters # Minimum depth: 348.832145 meters looking forward 50.000000 meters along route # Maximum depth: 358.534624 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 298.832145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789369; longitude = -121.884180; duration = 202; initialDepth = 281.129564; finalDepth = 298.832145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.004574 # Actual altitude: 60.004574 # Commanded vehicle depth: 298.832145 # Seafloor depth: -358.534624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.00; 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 1 # Segment length 72.696508 meters # Minimum depth: 331.129564 meters looking forward 50.000000 meters along route # Maximum depth: 347.385824 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.129564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789025; longitude = -121.883807; duration = 290; # abortOnTimeout = True; initialDepth = 269.578349; finalDepth = 281.129564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.25626 # Actual altitude: 66.25626 # Commanded vehicle depth: 281.129564 # Seafloor depth: -347.385824 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.781333 meters # Minimum depth: 319.578349 meters looking forward 50.000000 meters along route # Maximum depth: 330.553246 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.578349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.883253; duration = 219; initialDepth = 262.343938; finalDepth = 269.578349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.25626 # Actual altitude: 66.25626 # Commanded vehicle depth: 269.578349 # Seafloor depth: -330.553246 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.263834 meters # Minimum depth: 312.343938 meters looking forward 50.000000 meters along route # Maximum depth: 319.538701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.343938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788182; longitude = -121.882836; duration = 217; initialDepth = 252.049232; finalDepth = 262.343938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.974897 # Actual altitude: 60.974897 # Commanded vehicle depth: 262.343938 # Seafloor depth: -319.538701 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.522765 meters # Minimum depth: 302.049232 meters looking forward 50.000000 meters along route # Maximum depth: 310.390097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.049232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787824; longitude = -121.882422; duration = 218; initialDepth = 241.850366; finalDepth = 252.049232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.340865 # Actual altitude: 58.340865 # Commanded vehicle depth: 252.049232 # Seafloor depth: -310.390097 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.522887 meters # Minimum depth: 291.850366 meters looking forward 50.000000 meters along route # Maximum depth: 300.536862 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.850366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787463; longitude = -121.882007; duration = 218; initialDepth = 231.313841; finalDepth = 241.850366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.686496 # Actual altitude: 58.686496 # Commanded vehicle depth: 241.850366 # Seafloor depth: -300.536862 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 57.326805 meters # Minimum depth: 281.313841 meters looking forward 50.000000 meters along route # Maximum depth: 291.636086 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.313841 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787103; longitude = -121.881592; duration = 229; initialDepth = 221.156704; finalDepth = 231.313841; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.322245 # Actual altitude: 60.322245 # Commanded vehicle depth: 231.313841 # Seafloor depth: -291.636086 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.719331 meters # Minimum depth: 271.156704 meters looking forward 50.000000 meters along route # Maximum depth: 280.681779 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.156704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786724; longitude = -121.881155; duration = 206; initialDepth = 207.387912; finalDepth = 221.156704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.322245 # Actual altitude: 60.322245 # Commanded vehicle depth: 221.156704 # Seafloor depth: -280.681779 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.523251 meters # Minimum depth: 257.387912 meters looking forward 50.000000 meters along route # Maximum depth: 269.976253 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.387912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786382; longitude = -121.880761; duration = 218; initialDepth = 187.867155; finalDepth = 207.387912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.588341 # Actual altitude: 62.588341 # Commanded vehicle depth: 207.387912 # Seafloor depth: -269.976253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.558626 meters # Minimum depth: 237.867155 meters looking forward 50.000000 meters along route # Maximum depth: 256.054194 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.867155 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786021; longitude = -121.880346; duration = 222; initialDepth = 172.166422; finalDepth = 187.867155; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.187039 # Actual altitude: 68.187039 # Commanded vehicle depth: 187.867155 # Seafloor depth: -256.054194 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.488238 meters # Minimum depth: 222.166422 meters looking forward 50.000000 meters along route # Maximum depth: 237.411949 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.166422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785654; longitude = -121.879923; duration = 213; initialDepth = 150.569536; finalDepth = 172.166422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.187039 # Actual altitude: 68.187039 # Commanded vehicle depth: 172.166422 # Seafloor depth: -237.411949 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.523614 meters # Minimum depth: 200.569536 meters looking forward 50.000000 meters along route # Maximum depth: 218.187012 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.569536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785300; longitude = -121.879515; duration = 218; initialDepth = 133.609488; finalDepth = 150.569536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.617476 # Actual altitude: 67.617476 # Commanded vehicle depth: 150.569536 # Seafloor depth: -218.187012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.523735 meters # Minimum depth: 183.609488 meters looking forward 50.000000 meters along route # Maximum depth: 198.611965 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.609488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784940; longitude = -121.879100; duration = 218; initialDepth = 120.535929; finalDepth = 133.609488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.617476 # Actual altitude: 67.617476 # Commanded vehicle depth: 133.609488 # Seafloor depth: -198.611965 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 58.104145 meters # Minimum depth: 170.535929 meters looking forward 50.000000 meters along route # Maximum depth: 183.454516 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.535929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784579; longitude = -121.878685; duration = 232; initialDepth = 110.698204; finalDepth = 120.535929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.002477 # Actual altitude: 65.002477 # Commanded vehicle depth: 120.535929 # Seafloor depth: -183.454516 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.943689 meters # Minimum depth: 160.698204 meters looking forward 50.000000 meters along route # Maximum depth: 169.833899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.698204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784195; longitude = -121.878242; duration = 203; initialDepth = 99.658671; finalDepth = 110.698204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.918587 # Actual altitude: 62.918587 # Commanded vehicle depth: 110.698204 # Seafloor depth: -169.833899 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.524099 meters # Minimum depth: 149.658671 meters looking forward 50.000000 meters along route # Maximum depth: 159.551093 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.658671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783858; longitude = -121.877854; duration = 218; initialDepth = 86.516212; finalDepth = 99.658671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.892422 # Actual altitude: 59.892422 # Commanded vehicle depth: 99.658671 # Seafloor depth: -159.551093 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 56.335944 meters # Minimum depth: 136.516212 meters looking forward 50.000000 meters along route # Maximum depth: 149.056595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.516212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783498; longitude = -121.877439; duration = 225; initialDepth = 77.745890; finalDepth = 86.516212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.540383 # Actual altitude: 62.540383 # Commanded vehicle depth: 86.516212 # Seafloor depth: -149.056595 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.712617 meters # Minimum depth: 127.745890 meters looking forward 50.000000 meters along route # Maximum depth: 136.149220 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.745890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783125; longitude = -121.877010; duration = 210; initialDepth = 69.907979; finalDepth = 77.745890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.540383 # Actual altitude: 62.540383 # Commanded vehicle depth: 77.74589 # Seafloor depth: -136.149220 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.524463 meters # Minimum depth: 119.907979 meters looking forward 50.000000 meters along route # Maximum depth: 126.345819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.907979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782777; longitude = -121.876608; duration = 218; initialDepth = 64.330352; finalDepth = 69.907979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.40333 # Actual altitude: 58.40333 # Commanded vehicle depth: 69.907979 # Seafloor depth: -126.345819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.567720 meters # Minimum depth: 114.330352 meters looking forward 50.000000 meters along route # Maximum depth: 119.355438 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.330352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782416; longitude = -121.876193; duration = 218; initialDepth = 61.523195; finalDepth = 64.330352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.43784 # Actual altitude: 56.43784 # Commanded vehicle depth: 64.330352 # Seafloor depth: -119.355438 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 58.838374 meters # Minimum depth: 111.523195 meters looking forward 50.000000 meters along route # Maximum depth: 114.327447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.523195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782055; longitude = -121.875778; duration = 235; initialDepth = 59.618376; finalDepth = 61.523195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.025086 # Actual altitude: 55.025086 # Commanded vehicle depth: 61.523195 # Seafloor depth: -114.327447 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.168021 meters # Minimum depth: 109.618376 meters looking forward 50.000000 meters along route # Maximum depth: 111.375002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.618376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781666; longitude = -121.875329; duration = 200; initialDepth = 57.566899; finalDepth = 59.618376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.804252 # Actual altitude: 52.804252 # Commanded vehicle depth: 59.618376 # Seafloor depth: -111.375002 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.524947 meters # Minimum depth: 107.566899 meters looking forward 50.000000 meters along route # Maximum depth: 109.372400 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.566899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781335; longitude = -121.874947; duration = 218; initialDepth = 56.545122; finalDepth = 57.566899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.805501 # Actual altitude: 51.805501 # Commanded vehicle depth: 57.566899 # Seafloor depth: -109.372400 # 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 1 # Segment length 57.113288 meters # Minimum depth: 106.545122 meters looking forward 50.000000 meters along route # Maximum depth: 107.628699 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.545122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780974; longitude = -121.874532; duration = 228; initialDepth = 55.549441; finalDepth = 56.545122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.805501 # Actual altitude: 51.805501 # Commanded vehicle depth: 56.545122 # Seafloor depth: -107.499408 # 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 1 # Segment length 51.936971 meters # Minimum depth: 105.549441 meters looking forward 50.000000 meters along route # Maximum depth: 106.804742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.549441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780597; longitude = -121.874097; duration = 207; initialDepth = 54.468883; finalDepth = 55.549441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.255301 # Actual altitude: 51.255301 # Commanded vehicle depth: 55.549441 # Seafloor depth: -106.804742 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 54.525312 meters # Minimum depth: 104.468883 meters looking forward 50.000000 meters along route # Maximum depth: 105.508037 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.468883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780253; longitude = -121.873702; duration = 218; initialDepth = 52.312154; finalDepth = 54.468883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.255301 # Actual altitude: 51.255301 # Commanded vehicle depth: 54.468883 # Seafloor depth: -105.508037 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.345040 meters # Minimum depth: 102.312154 meters looking forward 50.000000 meters along route # Maximum depth: 104.565545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.312154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779893; longitude = -121.873286; duration = 221; initialDepth = 51.573056; finalDepth = 52.312154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.253391 # Actual altitude: 52.253391 # Commanded vehicle depth: 52.312154 # Seafloor depth: -104.565545 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 58.839292 meters # Minimum depth: 101.573056 meters looking forward 50.000000 meters along route # Maximum depth: 102.303433 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.573056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779527; longitude = -121.872865; duration = 235; initialDepth = 49.898639; finalDepth = 51.573056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.253391 # Actual altitude: 52.253391 # Commanded vehicle depth: 51.573056 # Seafloor depth: -102.303433 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.936141 meters # Minimum depth: 99.898639 meters looking forward 50.000000 meters along route # Maximum depth: 101.439050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.898639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779138; longitude = -121.872417; duration = 215; initialDepth = 49.696798; finalDepth = 49.898639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.540411 # Actual altitude: 51.540411 # Commanded vehicle depth: 49.898639 # Seafloor depth: -101.439050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.62; 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: 51.540411 # Sonar parameter altitude: 51.540411 # Commanded vehicle depth: 49.696798 # Seafloor depth: -99.696798 # behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.62; 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: 99.696798 meters looking forward 50.000000 meters along route # Maximum depth: 101.227019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 367.412119 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.696798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.778781; longitude = -121.872006; duration = 2000; depth = 49.696798; 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 = 45.0; 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 = 45.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; 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; 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; } # ####################################################### ####################################################### ####################################################### #######################################################