# 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: # # Mission Summary: # Route File: 20210405_1850PatchTest_1v1.rte # Mission File: 20210405_1850PatchTest_1v1.cfg # Distance: 4612 (m) 4.612 (km) # Estimated Time: 7441 (s) 2.067 (hr) # Abort Time: 11162 (s) 3.101 (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: 6686 (s) 1.857 (hr) # Ascend time: 2725 (s) 0.757 (hr) # Way Points: 10 # Route Points: 83 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent with StartSurvey behavior # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 34 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 0.001 usec # Multibeam minimum range fraction: 0.4 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan disabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 15 (m) # Delta Depth Restart 1: 35 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 75 (m) # Desired Vehicle Altitude 3: 25 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1833.719291 (m) # Abort Vehicle Depth: 1858.719291 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1799.925456 m # Spiral descent altitude: 50 m # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # Maximum climb rate: 15 (degrees) # Time to first waypoint: 2000 (s) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.100587 36.701965 -1859.925456 0.000000 3 # 1 -122.089608 36.701875 -1828.721354 980.805929 3 # 2 -122.092633 36.701965 -1837.774089 1251.199030 3 # 3 -122.093940 36.701905 -1841.566569 1368.145689 5 # 4 -122.096218 36.701965 -1847.749674 1571.744761 5 # 5 -122.097675 36.701965 -1851.689941 1701.844791 3 # 6 -122.099542 36.701995 -1862.305664 1868.672911 3 # 7 -122.095098 36.706291 -1833.152344 2488.915430 3 # 8 -122.095173 36.697579 -1843.991536 3455.417733 3 # 9 -122.095098 36.708004 -1817.225260 4611.879585 4 # # A total of 83 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 11162; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1833.719291; abortDepth = 1858.719291; 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 = 2725; 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 9 # Segment length 83.318644 meters # Minimum depth: 1817.225260 meters looking forward 50.000000 meters along route # Maximum depth: 1826.230435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.225260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708004; longitude = -122.095098; duration = 333; # abortOnTimeout = True; initialDepth = 1777.797368; finalDepth = 1767.225260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1767.22526 # Seafloor depth: -1817.225260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 59.989418 meters # Minimum depth: 1827.797368 meters looking forward 50.000000 meters along route # Maximum depth: 1833.249854 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.797368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707253; longitude = -122.095103; duration = 239; initialDepth = 1781.531378; finalDepth = 1777.797368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1777.797368 # Seafloor depth: -1827.797368 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989412 meters # Minimum depth: 1831.531378 meters looking forward 50.000000 meters along route # Maximum depth: 1834.252488 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.531378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706712; longitude = -122.095107; duration = 239; initialDepth = 1784.379987; finalDepth = 1781.531378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1111720000001 # Actual altitude: 51.1111720000001 # Commanded vehicle depth: 1781.531378 # Seafloor depth: -1832.642550 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989407 meters # Minimum depth: 1834.379987 meters looking forward 50.000000 meters along route # Maximum depth: 1836.634937 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.379987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706171; longitude = -122.095111; duration = 239; initialDepth = 1787.547809; finalDepth = 1784.379987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1111720000001 # Actual altitude: 51.1111720000001 # Commanded vehicle depth: 1784.379987 # Seafloor depth: -1834.728668 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989401 meters # Minimum depth: 1837.547809 meters looking forward 50.000000 meters along route # Maximum depth: 1838.836827 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.547809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705630; longitude = -122.095115; duration = 239; initialDepth = 1787.544731; finalDepth = 1787.547809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2890180000002 # Actual altitude: 51.2890180000002 # Commanded vehicle depth: 1787.547809 # Seafloor depth: -1838.836827 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989396 meters # Minimum depth: 1837.544731 meters looking forward 50.000000 meters along route # Maximum depth: 1841.011876 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.544731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705090; longitude = -122.095119; duration = 239; initialDepth = 1787.522965; finalDepth = 1787.544731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2890180000002 # Actual altitude: 51.2890180000002 # Commanded vehicle depth: 1787.544731 # Seafloor depth: -1838.580842 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989391 meters # Minimum depth: 1837.522965 meters looking forward 50.000000 meters along route # Maximum depth: 1844.989553 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.522965 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704549; longitude = -122.095123; duration = 239; initialDepth = 1789.876206; finalDepth = 1787.522965; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.705019 # Actual altitude: 53.705019 # Commanded vehicle depth: 1787.522965 # Seafloor depth: -1841.227984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989385 meters # Minimum depth: 1839.876206 meters looking forward 50.000000 meters along route # Maximum depth: 1843.582752 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.876206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704008; longitude = -122.095127; duration = 239; initialDepth = 1793.512935; finalDepth = 1789.876206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.705019 # Actual altitude: 53.705019 # Commanded vehicle depth: 1789.876206 # Seafloor depth: -1841.881836 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989380 meters # Minimum depth: 1843.512935 meters looking forward 50.000000 meters along route # Maximum depth: 1845.323082 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.512935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703467; longitude = -122.095130; duration = 239; initialDepth = 1793.821450; finalDepth = 1793.512935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0056300000001 # Actual altitude: 52.0056300000001 # Commanded vehicle depth: 1793.512935 # Seafloor depth: -1843.819274 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989374 meters # Minimum depth: 1843.821450 meters looking forward 50.000000 meters along route # Maximum depth: 1846.411380 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.821450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702927; longitude = -122.095134; duration = 239; initialDepth = 1793.526516; finalDepth = 1793.821450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.780624 # Actual altitude: 50.780624 # Commanded vehicle depth: 1793.82145 # Seafloor depth: -1844.602074 # 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 9 # Segment length 59.989369 meters # Minimum depth: 1843.526516 meters looking forward 50.000000 meters along route # Maximum depth: 1847.947800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.526516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702386; longitude = -122.095138; duration = 239; initialDepth = 1792.593056; finalDepth = 1793.526516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.780624 # Actual altitude: 50.780624 # Commanded vehicle depth: 1793.526516 # Seafloor depth: -1844.285494 # 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 9 # Segment length 59.989363 meters # Minimum depth: 1842.593056 meters looking forward 50.000000 meters along route # Maximum depth: 1846.282916 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.593056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701845; longitude = -122.095142; duration = 239; initialDepth = 1795.961555; finalDepth = 1792.593056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.749591 # Actual altitude: 52.749591 # Commanded vehicle depth: 1792.593056 # Seafloor depth: -1845.342647 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989358 meters # Minimum depth: 1845.961555 meters looking forward 50.000000 meters along route # Maximum depth: 1849.260177 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.961555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701304; longitude = -122.095146; duration = 239; initialDepth = 1795.333225; finalDepth = 1795.961555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.749591 # Actual altitude: 52.749591 # Commanded vehicle depth: 1795.961555 # Seafloor depth: -1845.961555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989353 meters # Minimum depth: 1845.333225 meters looking forward 50.000000 meters along route # Maximum depth: 1846.543150 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.333225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700764; longitude = -122.095150; duration = 239; initialDepth = 1794.511722; finalDepth = 1795.333225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.849164 # Actual altitude: 50.849164 # Commanded vehicle depth: 1795.333225 # Seafloor depth: -1846.182389 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989347 meters # Minimum depth: 1844.511722 meters looking forward 50.000000 meters along route # Maximum depth: 1847.468761 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.511722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700223; longitude = -122.095154; duration = 239; initialDepth = 1793.904717; finalDepth = 1794.511722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2277859999999 # Actual altitude: 52.2277859999999 # Commanded vehicle depth: 1794.511722 # Seafloor depth: -1846.739508 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989342 meters # Minimum depth: 1843.904717 meters looking forward 50.000000 meters along route # Maximum depth: 1847.125620 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.904717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699682; longitude = -122.095158; duration = 239; initialDepth = 1795.684143; finalDepth = 1793.904717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6258350000001 # Actual altitude: 52.6258350000001 # Commanded vehicle depth: 1793.904717 # Seafloor depth: -1846.530552 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989336 meters # Minimum depth: 1845.684143 meters looking forward 50.000000 meters along route # Maximum depth: 1848.753573 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.684143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699141; longitude = -122.095161; duration = 239; initialDepth = 1797.284202; finalDepth = 1795.684143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.06943 # Actual altitude: 53.06943 # Commanded vehicle depth: 1795.684143 # Seafloor depth: -1848.753573 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 59.989331 meters # Minimum depth: 1847.284202 meters looking forward 50.000000 meters along route # Maximum depth: 1851.829904 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.284202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698601; longitude = -122.095165; duration = 239; initialDepth = 1793.961709; finalDepth = 1797.284202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.06943 # Actual altitude: 53.06943 # Commanded vehicle depth: 1797.284202 # Seafloor depth: -1849.256462 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 53.323845 meters # Minimum depth: 1843.961709 meters looking forward 50.000000 meters along route # Maximum depth: 1848.572305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.961709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698060; longitude = -122.095169; duration = 213; initialDepth = 1793.991536; finalDepth = 1793.961709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.610596 # Actual altitude: 54.610596 # Commanded vehicle depth: 1793.961709 # Seafloor depth: -1848.572305 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 73.320815 meters # Minimum depth: 1843.991536 meters looking forward 50.000000 meters along route # Maximum depth: 1849.893346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.991536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697579; longitude = -122.095173; duration = 293; # abortOnTimeout = True; initialDepth = 1797.269571; finalDepth = 1793.991536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.610596 # Actual altitude: 54.610596 # Commanded vehicle depth: 1793.991536 # Seafloor depth: -1843.991536 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 59.989764 meters # Minimum depth: 1847.269571 meters looking forward 50.000000 meters along route # Maximum depth: 1851.846633 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.269571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698240; longitude = -122.095167; duration = 239; initialDepth = 1795.413254; finalDepth = 1797.269571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5770620000001 # Actual altitude: 54.5770620000001 # Commanded vehicle depth: 1797.269571 # Seafloor depth: -1851.846633 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989769 meters # Minimum depth: 1845.413254 meters looking forward 50.000000 meters along route # Maximum depth: 1848.804205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.413254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698781; longitude = -122.095162; duration = 239; initialDepth = 1793.839850; finalDepth = 1795.413254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5770620000001 # Actual altitude: 54.5770620000001 # Commanded vehicle depth: 1795.413254 # Seafloor depth: -1846.482982 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989775 meters # Minimum depth: 1843.839850 meters looking forward 50.000000 meters along route # Maximum depth: 1847.137402 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.839850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699322; longitude = -122.095158; duration = 239; initialDepth = 1794.425283; finalDepth = 1793.839850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.297552 # Actual altitude: 53.297552 # Commanded vehicle depth: 1793.83985 # Seafloor depth: -1847.137402 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989780 meters # Minimum depth: 1844.425283 meters looking forward 50.000000 meters along route # Maximum depth: 1847.514686 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.425283 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699862; longitude = -122.095153; duration = 239; initialDepth = 1795.352398; finalDepth = 1794.425283; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.297552 # Actual altitude: 53.297552 # Commanded vehicle depth: 1794.425283 # Seafloor depth: -1845.962473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989785 meters # Minimum depth: 1845.352398 meters looking forward 50.000000 meters along route # Maximum depth: 1846.562172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.352398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700403; longitude = -122.095148; duration = 239; initialDepth = 1795.944001; finalDepth = 1795.352398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.53719 # Actual altitude: 51.53719 # Commanded vehicle depth: 1795.352398 # Seafloor depth: -1846.562172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989791 meters # Minimum depth: 1845.944001 meters looking forward 50.000000 meters along route # Maximum depth: 1849.386045 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.944001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700944; longitude = -122.095144; duration = 239; initialDepth = 1792.433813; finalDepth = 1795.944001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2097739999999 # Actual altitude: 51.2097739999999 # Commanded vehicle depth: 1795.944001 # Seafloor depth: -1847.111537 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989796 meters # Minimum depth: 1842.433813 meters looking forward 50.000000 meters along route # Maximum depth: 1846.208513 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.433813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701485; longitude = -122.095139; duration = 239; initialDepth = 1793.538562; finalDepth = 1792.433813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7746999999999 # Actual altitude: 53.7746999999999 # Commanded vehicle depth: 1792.433813 # Seafloor depth: -1846.208513 # 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 8 # Segment length 59.989802 meters # Minimum depth: 1843.538562 meters looking forward 50.000000 meters along route # Maximum depth: 1848.053586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.538562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702025; longitude = -122.095135; duration = 239; initialDepth = 1793.595195; finalDepth = 1793.538562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.515024 # Actual altitude: 54.515024 # Commanded vehicle depth: 1793.538562 # Seafloor depth: -1848.053586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989807 meters # Minimum depth: 1843.595195 meters looking forward 50.000000 meters along route # Maximum depth: 1846.136714 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.595195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702566; longitude = -122.095130; duration = 239; initialDepth = 1792.544962; finalDepth = 1793.595195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.515024 # Actual altitude: 54.515024 # Commanded vehicle depth: 1793.595195 # Seafloor depth: -1846.136714 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989813 meters # Minimum depth: 1842.544962 meters looking forward 50.000000 meters along route # Maximum depth: 1845.235620 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.544962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703107; longitude = -122.095125; duration = 239; initialDepth = 1789.941768; finalDepth = 1792.544962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5415189999999 # Actual altitude: 52.5415189999999 # Commanded vehicle depth: 1792.544962 # Seafloor depth: -1844.785732 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989818 meters # Minimum depth: 1839.941768 meters looking forward 50.000000 meters along route # Maximum depth: 1843.431385 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.941768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703648; longitude = -122.095121; duration = 239; initialDepth = 1787.660560; finalDepth = 1789.941768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4896170000002 # Actual altitude: 53.4896170000002 # Commanded vehicle depth: 1789.941768 # Seafloor depth: -1843.431385 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989823 meters # Minimum depth: 1837.660560 meters looking forward 50.000000 meters along route # Maximum depth: 1844.471040 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.660560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704188; longitude = -122.095116; duration = 239; initialDepth = 1787.536535; finalDepth = 1787.660560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4896170000002 # Actual altitude: 53.4896170000002 # Commanded vehicle depth: 1787.66056 # Seafloor depth: -1837.660560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989829 meters # Minimum depth: 1837.536535 meters looking forward 50.000000 meters along route # Maximum depth: 1838.650566 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.536535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704729; longitude = -122.095111; duration = 239; initialDepth = 1784.684447; finalDepth = 1787.536535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1787.536535 # Seafloor depth: -1837.536535 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.989834 meters # Minimum depth: 1834.684447 meters looking forward 50.000000 meters along route # Maximum depth: 1838.630469 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.684447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705270; longitude = -122.095107; duration = 239; initialDepth = 1784.292134; finalDepth = 1784.684447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3020259999998 # Actual altitude: 53.3020259999998 # Commanded vehicle depth: 1784.684447 # Seafloor depth: -1837.986473 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 53.324302 meters # Minimum depth: 1834.292134 meters looking forward 50.000000 meters along route # Maximum depth: 1836.356042 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1784.292134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705811; longitude = -122.095102; duration = 213; initialDepth = 1783.152344; finalDepth = 1784.292134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.3020259999998 # Actual altitude: 53.3020259999998 # Commanded vehicle depth: 1784.292134 # Seafloor depth: -1835.679684 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 43.373167 meters # Minimum depth: 1833.152344 meters looking forward 50.000000 meters along route # Maximum depth: 1838.621914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.152344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706291; longitude = -122.095098; duration = 173; # abortOnTimeout = True; initialDepth = 1785.480803; finalDepth = 1783.152344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3875499999999 # Actual altitude: 51.3875499999999 # Commanded vehicle depth: 1783.152344 # Seafloor depth: -1833.152344 # 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 7 # Segment length 52.047887 meters # Minimum depth: 1835.480803 meters looking forward 50.000000 meters along route # Maximum depth: 1841.447990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.480803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705991; longitude = -122.095409; duration = 208; initialDepth = 1787.662008; finalDepth = 1785.480803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.480803 # Seafloor depth: -1835.480803 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.047982 meters # Minimum depth: 1837.662008 meters looking forward 50.000000 meters along route # Maximum depth: 1840.187819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.662008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705630; longitude = -122.095782; duration = 208; initialDepth = 1789.316734; finalDepth = 1787.662008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.525811 # Actual altitude: 52.525811 # Commanded vehicle depth: 1787.662008 # Seafloor depth: -1840.187819 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.048075 meters # Minimum depth: 1839.316734 meters looking forward 50.000000 meters along route # Maximum depth: 1841.100880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1789.316734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705270; longitude = -122.096155; duration = 208; initialDepth = 1790.988048; finalDepth = 1789.316734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.525811 # Actual altitude: 52.525811 # Commanded vehicle depth: 1789.316734 # Seafloor depth: -1839.316734 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.048171 meters # Minimum depth: 1840.988048 meters looking forward 50.000000 meters along route # Maximum depth: 1845.307346 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.988048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704909; longitude = -122.096527; duration = 208; initialDepth = 1795.749426; finalDepth = 1790.988048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.510996 # Actual altitude: 50.510996 # Commanded vehicle depth: 1790.988048 # Seafloor depth: -1841.499044 # 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 7 # Segment length 52.048264 meters # Minimum depth: 1845.749426 meters looking forward 50.000000 meters along route # Maximum depth: 1848.503329 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.749426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704549; longitude = -122.096900; duration = 208; initialDepth = 1795.625066; finalDepth = 1795.749426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.510996 # Actual altitude: 50.510996 # Commanded vehicle depth: 1795.749426 # Seafloor depth: -1845.749426 # 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 7 # Segment length 52.048359 meters # Minimum depth: 1845.625066 meters looking forward 50.000000 meters along route # Maximum depth: 1848.232213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.625066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704188; longitude = -122.097273; duration = 208; initialDepth = 1797.515395; finalDepth = 1795.625066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75326 # Actual altitude: 51.75326 # Commanded vehicle depth: 1795.625066 # Seafloor depth: -1847.378326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.048452 meters # Minimum depth: 1847.515395 meters looking forward 50.000000 meters along route # Maximum depth: 1851.902344 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.515395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703828; longitude = -122.097646; duration = 208; initialDepth = 1799.284282; finalDepth = 1797.515395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.75326 # Actual altitude: 51.75326 # Commanded vehicle depth: 1797.515395 # Seafloor depth: -1849.060076 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.048548 meters # Minimum depth: 1849.284282 meters looking forward 50.000000 meters along route # Maximum depth: 1850.618012 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.284282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703467; longitude = -122.098019; duration = 208; initialDepth = 1800.480555; finalDepth = 1799.284282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5446810000001 # Actual altitude: 51.5446810000001 # Commanded vehicle depth: 1799.284282 # Seafloor depth: -1850.420511 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.048641 meters # Minimum depth: 1850.480555 meters looking forward 50.000000 meters along route # Maximum depth: 1857.440235 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1800.480555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703107; longitude = -122.098392; duration = 208; initialDepth = 1802.050731; finalDepth = 1800.480555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.136229 # Actual altitude: 51.136229 # Commanded vehicle depth: 1800.480555 # Seafloor depth: -1850.480555 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 56.313238 meters # Minimum depth: 1852.050731 meters looking forward 50.000000 meters along route # Maximum depth: 1860.189702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.050731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702746; longitude = -122.098765; duration = 225; initialDepth = 1802.342425; finalDepth = 1802.050731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1389709999999 # Actual altitude: 58.1389709999999 # Commanded vehicle depth: 1802.050731 # Seafloor depth: -1860.189702 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.121735 meters # Minimum depth: 1852.342425 meters looking forward 50.000000 meters along route # Maximum depth: 1858.770282 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.342425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702356; longitude = -122.099168; duration = 208; initialDepth = 1804.760479; finalDepth = 1802.342425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.1389709999999 # Actual altitude: 58.1389709999999 # Commanded vehicle depth: 1802.342425 # Seafloor depth: -1856.182809 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.26; 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 63.394672 meters # Minimum depth: 1854.760479 meters looking forward 50.000000 meters along route # Maximum depth: 1862.375781 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.760479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701995; longitude = -122.099542; duration = 253; # abortOnTimeout = True; initialDepth = 1803.665193; finalDepth = 1804.760479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5451849999999 # Actual altitude: 57.5451849999999 # Commanded vehicle depth: 1804.760479 # Seafloor depth: -1862.305664 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.048437 meters # Minimum depth: 1853.665193 meters looking forward 50.000000 meters along route # Maximum depth: 1856.320540 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.665193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701984; longitude = -122.098832; duration = 200; initialDepth = 1801.719810; finalDepth = 1803.665193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5451849999999 # Actual altitude: 57.5451849999999 # Commanded vehicle depth: 1803.665193 # Seafloor depth: -1856.320540 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 53.385011 meters # Minimum depth: 1851.719810 meters looking forward 50.000000 meters along route # Maximum depth: 1853.468437 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.719810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701975; longitude = -122.098272; duration = 213; initialDepth = 1799.651042; finalDepth = 1801.719810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6553469999999 # Actual altitude: 52.6553469999999 # Commanded vehicle depth: 1801.71981 # Seafloor depth: -1853.468437 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.06; 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 76.725655 meters # Minimum depth: 1849.651042 meters looking forward 50.000000 meters along route # Maximum depth: 1853.084635 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1799.651042 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701965; longitude = -122.097675; duration = 306; # abortOnTimeout = True; initialDepth = 1771.120605; finalDepth = 1799.651042; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0388990000001 # Actual altitude: 52.0388990000001 # Commanded vehicle depth: 1799.651042 # Seafloor depth: -1851.689941 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.374375 meters # Minimum depth: 1846.120605 meters looking forward 50.000000 meters along route # Maximum depth: 1849.441284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.120605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701965; longitude = -122.096816; duration = 213; initialDepth = 1767.948931; finalDepth = 1771.120605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 77.3676759999998 # Actual altitude: 77.3676759999998 # Commanded vehicle depth: 1771.120605 # Seafloor depth: -1848.488281 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 46.727635 meters # Minimum depth: 1842.948931 meters looking forward 50.000000 meters along route # Maximum depth: 1848.149270 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1767.948931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701965; longitude = -122.096218; duration = 186; # abortOnTimeout = True; initialDepth = 1770.251921; finalDepth = 1767.948931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.800743 # Actual altitude: 79.800743 # Commanded vehicle depth: 1767.948931 # Seafloor depth: -1847.749674 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 50.065336 meters # Minimum depth: 1845.251921 meters looking forward 50.000000 meters along route # Maximum depth: 1846.981685 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1770.251921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701952; longitude = -122.095695; duration = 200; initialDepth = 1768.074603; finalDepth = 1770.251921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.800743 # Actual altitude: 79.800743 # Commanded vehicle depth: 1770.251921 # Seafloor depth: -1846.981685 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 50.065352 meters # Minimum depth: 1843.074603 meters looking forward 50.000000 meters along route # Maximum depth: 1846.114754 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1768.074603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701937; longitude = -122.095135; duration = 200; initialDepth = 1765.945024; finalDepth = 1768.074603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0401509999999 # Actual altitude: 78.0401509999999 # Commanded vehicle depth: 1768.074603 # Seafloor depth: -1846.114754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 56.740749 meters # Minimum depth: 1840.945024 meters looking forward 50.000000 meters along route # Maximum depth: 1844.103147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1765.945024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701922; longitude = -122.094575; duration = 226; initialDepth = 1762.964111; finalDepth = 1765.945024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 78.1581229999999 # Actual altitude: 78.1581229999999 # Commanded vehicle depth: 1765.945024 # Seafloor depth: -1844.103147 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.26; 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 63.485337 meters # Minimum depth: 1837.964111 meters looking forward 50.000000 meters along route # Maximum depth: 1842.168248 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.964111 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701905; longitude = -122.093940; duration = 253; # abortOnTimeout = True; initialDepth = 1779.974955; finalDepth = 1762.964111; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6024580000001 # Actual altitude: 78.6024580000001 # Commanded vehicle depth: 1762.964111 # Seafloor depth: -1841.566569 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.461322 meters # Minimum depth: 1836.496903 meters looking forward 50.000000 meters along route # Maximum depth: 1838.235038 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.974955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701938; longitude = -122.093231; duration = 213; initialDepth = 1785.775657; finalDepth = 1779.974955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.6024580000001 # Actual altitude: 78.6024580000001 # Commanded vehicle depth: 1779.9749554765 # Seafloor depth: -1836.496903 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 66.763686 meters # Minimum depth: 1835.775657 meters looking forward 50.000000 meters along route # Maximum depth: 1837.774089 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.775657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701965; longitude = -122.092633; duration = 267; # abortOnTimeout = True; initialDepth = 1783.835088; finalDepth = 1785.775657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5219475235015 # Actual altitude: 56.5219475235015 # Commanded vehicle depth: 1785.775657 # Seafloor depth: -1837.774089 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.072783 meters # Minimum depth: 1833.835088 meters looking forward 50.000000 meters along route # Maximum depth: 1836.673225 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.835088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701943; longitude = -122.091886; duration = 200; initialDepth = 1781.359019; finalDepth = 1783.835088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9984320000001 # Actual altitude: 51.9984320000001 # Commanded vehicle depth: 1783.835088 # Seafloor depth: -1835.281973 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.072798 meters # Minimum depth: 1831.359019 meters looking forward 50.000000 meters along route # Maximum depth: 1834.702112 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.359019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701926; longitude = -122.091326; duration = 200; initialDepth = 1779.664808; finalDepth = 1781.359019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.343093 # Actual altitude: 53.343093 # Commanded vehicle depth: 1781.359019 # Seafloor depth: -1834.702112 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 50.072815 meters # Minimum depth: 1829.664808 meters looking forward 50.000000 meters along route # Maximum depth: 1831.099296 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.664808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701910; longitude = -122.090766; duration = 200; initialDepth = 1776.649257; finalDepth = 1779.664808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.343093 # Actual altitude: 53.343093 # Commanded vehicle depth: 1779.664808 # Seafloor depth: -1830.993586 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.411019 meters # Minimum depth: 1826.649257 meters looking forward 50.000000 meters along route # Maximum depth: 1830.542271 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1776.649257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701893; longitude = -122.090206; duration = 213; initialDepth = 1777.571152; finalDepth = 1776.649257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.893014 # Actual altitude: 53.893014 # Commanded vehicle depth: 1776.649257 # Seafloor depth: -1830.542271 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.56; 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 73.393747 meters # Minimum depth: 1827.571152 meters looking forward 50.000000 meters along route # Maximum depth: 1830.577769 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1777.571152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701875; longitude = -122.089608; duration = 293; # abortOnTimeout = True; initialDepth = 1779.757623; finalDepth = 1777.571152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.893014 # Actual altitude: 53.893014 # Commanded vehicle depth: 1777.571152 # Seafloor depth: -1828.721354 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.041182 meters # Minimum depth: 1829.757623 meters looking forward 50.000000 meters along route # Maximum depth: 1831.283004 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.757623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701882; longitude = -122.090430; duration = 200; initialDepth = 1781.768614; finalDepth = 1779.757623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5253809999999 # Actual altitude: 51.5253809999999 # Commanded vehicle depth: 1779.757623 # Seafloor depth: -1831.283004 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041173 meters # Minimum depth: 1831.768614 meters looking forward 50.000000 meters along route # Maximum depth: 1835.247559 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.768614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701887; longitude = -122.090990; duration = 200; initialDepth = 1783.119579; finalDepth = 1781.768614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5253809999999 # Actual altitude: 51.5253809999999 # Commanded vehicle depth: 1781.768614 # Seafloor depth: -1831.768614 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041165 meters # Minimum depth: 1833.119579 meters looking forward 50.000000 meters along route # Maximum depth: 1836.002063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1783.119579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701891; longitude = -122.091550; duration = 200; initialDepth = 1786.555123; finalDepth = 1783.119579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3315930000001 # Actual altitude: 50.3315930000001 # Commanded vehicle depth: 1783.119579 # Seafloor depth: -1833.451172 # 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; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041157 meters # Minimum depth: 1836.555123 meters looking forward 50.000000 meters along route # Maximum depth: 1837.690988 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.555123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701896; longitude = -122.092110; duration = 200; initialDepth = 1787.572305; finalDepth = 1786.555123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4968939999999 # Actual altitude: 50.4968939999999 # Commanded vehicle depth: 1786.555123 # Seafloor depth: -1837.052017 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041150 meters # Minimum depth: 1837.572305 meters looking forward 50.000000 meters along route # Maximum depth: 1838.048061 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1787.572305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701900; longitude = -122.092671; duration = 200; initialDepth = 1786.798215; finalDepth = 1787.572305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4968939999999 # Actual altitude: 50.4968939999999 # Commanded vehicle depth: 1787.572305 # Seafloor depth: -1837.954560 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041141 meters # Minimum depth: 1836.798215 meters looking forward 50.000000 meters along route # Maximum depth: 1841.988959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.798215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701905; longitude = -122.093231; duration = 200; initialDepth = 1791.334981; finalDepth = 1786.798215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.382255 # Actual altitude: 50.382255 # Commanded vehicle depth: 1786.798215 # Seafloor depth: -1836.798215 # 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 1 # Segment length 50.041134 meters # Minimum depth: 1841.334981 meters looking forward 50.000000 meters along route # Maximum depth: 1842.493715 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.334981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701910; longitude = -122.093791; duration = 200; initialDepth = 1790.961743; finalDepth = 1791.334981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.559882 # Actual altitude: 50.559882 # Commanded vehicle depth: 1791.334981 # Seafloor depth: -1841.894863 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041125 meters # Minimum depth: 1840.961743 meters looking forward 50.000000 meters along route # Maximum depth: 1844.116786 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1790.961743 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701914; longitude = -122.094351; duration = 200; initialDepth = 1794.311224; finalDepth = 1790.961743; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.559882 # Actual altitude: 50.559882 # Commanded vehicle depth: 1790.961743 # Seafloor depth: -1840.961743 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041117 meters # Minimum depth: 1844.311224 meters looking forward 50.000000 meters along route # Maximum depth: 1847.256643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.311224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701919; longitude = -122.094911; duration = 200; initialDepth = 1795.043607; finalDepth = 1794.311224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1794.311224 # Seafloor depth: -1844.311224 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041110 meters # Minimum depth: 1845.043607 meters looking forward 50.000000 meters along route # Maximum depth: 1848.686335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.043607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701923; longitude = -122.095471; duration = 200; initialDepth = 1792.483667; finalDepth = 1795.043607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1795.043607 # Seafloor depth: -1845.043607 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041101 meters # Minimum depth: 1842.483667 meters looking forward 50.000000 meters along route # Maximum depth: 1848.766661 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1792.483667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701928; longitude = -122.096032; duration = 200; initialDepth = 1797.786634; finalDepth = 1792.483667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1792.483667 # Seafloor depth: -1842.483667 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041094 meters # Minimum depth: 1847.786634 meters looking forward 50.000000 meters along route # Maximum depth: 1850.300781 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.786634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701933; longitude = -122.096592; duration = 200; initialDepth = 1801.871319; finalDepth = 1797.786634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.880418 # Actual altitude: 50.880418 # Commanded vehicle depth: 1797.786634 # Seafloor depth: -1848.667052 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041085 meters # Minimum depth: 1851.871319 meters looking forward 50.000000 meters along route # Maximum depth: 1853.513074 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.871319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701937; longitude = -122.097152; duration = 200; initialDepth = 1801.730855; finalDepth = 1801.871319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6417549999999 # Actual altitude: 51.6417549999999 # Commanded vehicle depth: 1801.871319 # Seafloor depth: -1853.513074 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041078 meters # Minimum depth: 1851.730855 meters looking forward 50.000000 meters along route # Maximum depth: 1853.223999 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1801.730855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701942; longitude = -122.097712; duration = 200; initialDepth = 1803.564056; finalDepth = 1801.730855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6417549999999 # Actual altitude: 51.6417549999999 # Commanded vehicle depth: 1801.730855 # Seafloor depth: -1853.223999 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041070 meters # Minimum depth: 1853.564056 meters looking forward 50.000000 meters along route # Maximum depth: 1855.237663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1803.564056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701946; longitude = -122.098272; duration = 200; initialDepth = 1805.946537; finalDepth = 1803.564056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.493144 # Actual altitude: 51.493144 # Commanded vehicle depth: 1803.564056 # Seafloor depth: -1853.818240 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.041062 meters # Minimum depth: 1855.946537 meters looking forward 50.000000 meters along route # Maximum depth: 1859.452054 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.946537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701951; longitude = -122.098832; duration = 200; initialDepth = 1807.281933; finalDepth = 1805.946537; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2541840000001 # Actual altitude: 50.2541840000001 # Commanded vehicle depth: 1805.946537 # Seafloor depth: -1855.946537 # 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 1 # Segment length 50.041053 meters # Minimum depth: 1857.281933 meters looking forward 50.000000 meters along route # Maximum depth: 1867.592884 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1807.281933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701956; longitude = -122.099392; duration = 200; initialDepth = 1808.182258; finalDepth = 1807.281933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.222352 # Actual altitude: 52.222352 # Commanded vehicle depth: 1807.281933 # Seafloor depth: -1859.504285 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 56.713185 meters # Minimum depth: 1858.182258 meters looking forward 50.000000 meters along route # Maximum depth: 1864.116181 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 1833.719291 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1808.182258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701960; longitude = -122.099953; duration = 226; initialDepth = 1808.719291; finalDepth = 1808.182258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.222352 # Actual altitude: 52.222352 # Commanded vehicle depth: 1808.182258 # Seafloor depth: -1858.182258 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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: 51.2061649999998 # Sonar parameter altitude: 51.2061649999998 # Commanded vehicle depth: 1808.719291 # Seafloor depth: -1859.925456 # behavior edgetech { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; } behavior reson { duration = 6; MB_Power = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; MB_Bottom_Detect_Filter_Min_Range = 20.48; 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 back to start of line 1 # Segment length 56.713185 meters # Minimum depth: 1858.719291 meters looking forward 50.000000 meters along route # Maximum depth: 1864.116181 meters looking forward 50.000000 meters along route # Vehicle depth: 1808.719291 meters behavior waypoint { latitude = 36.701965; longitude = -122.100587; duration = 2000; depth = 1808.719291; speed = 1.500000; } # # Zero speed hang to allow final nav updates over acoustic modem # - must get start survey command over acoustic modem or mission aborts behavior StartSurvey { duration = 300; } # # Acoustic update 4 - sent status ping at end of spiral descent # behavior acousticUpdate { duration = 2; dummy = 1; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1808.719291 meters set by local depth and desired altitude behavior descend { duration = 6686; horizontalMode = rudder; horizontal = 2.000000; pitch = -45.000000; speed = 1.500000; maxDepth = 1799.925456; minAltitude = 50.000000; } # # Kearfott behavior - turn DVL aiding off for descent # behavior kearfott { duration = 2; enableDopAid = False; } # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 56.713185 meters # Minimum depth: 1858.719291 meters looking forward 50.000000 meters along route # Maximum depth: 1864.116181 meters looking forward 50.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 36.701965; longitude = -122.100587; duration = 2000; depth = 50.000000; 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 = 345.00; 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 = 345.00; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior edgetech { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; } behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 34; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.001000; 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; } # ####################################################### ####################################################### ####################################################### #######################################################