# 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: 20210609PatchTest_1v1.rte # Mission File: 20210609PatchTest_1v1.cfg # Distance: 10514 (m) 10.514 (km) # Estimated Time: 9665 (s) 2.685 (hr) # Abort Time: 14498 (s) 4.027 (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: 397 (s) 0.110 (hr) # Ascend time: 300 (s) 0.083 (hr) # Way Points: 16 # Route Points: 198 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 34 dB # Multibeam transmit gain: 218 dB # Multibeam pulse width: 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: 534.053134 (m) # Abort Vehicle Depth: 559.053134 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # Maximum climb rate: 15 (degrees) # Time to first waypoint: 2000 (s) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.878293 36.779444 -110.639101 0.000000 3 # 1 -121.899336 36.785041 -419.606026 1977.876191 3 # 2 -121.889038 36.792429 -380.114159 3209.225121 3 # 3 -121.891501 36.790638 -384.357681 3505.502964 3 # 4 -121.893068 36.789519 -385.627121 3692.486615 5 # 5 -121.894859 36.788175 -393.761688 3911.058469 5 # 6 -121.896276 36.787205 -400.613518 4077.097292 3 # 7 -121.898739 36.785414 -418.447083 4373.385625 3 # 8 -121.896873 36.790862 -382.319603 5000.316543 3 # 9 -121.891724 36.786608 -355.299019 5658.980056 3 # 10 -121.897843 36.791683 -386.385765 6443.284509 3 # 11 -121.903599 36.790678 -523.252808 6968.842978 3 # 12 -121.903860 36.783708 -543.638835 7742.418190 3 # 13 -121.905093 36.781094 -550.234375 8052.531413 3 # 14 -121.899902 36.778421 -562.523315 8602.601411 3 # 15 -121.878504 36.777700 -106.502594 10513.937771 3 # # A total of 198 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 14498; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 534.053134; abortDepth = 559.053134; minAltitude = 50.000000; abortAltitude = 15.000000; deltaDepthRestart = 35.000000; } ####################################################### # Set End-of-Mission Behaviors # # # setpoint on surface to gather momentum behavior setpoint { duration = 7200; heading = 287.631777; speed = 0.0; verticalMode = pitch; pitch = 0; } # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; 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 15 # Segment length 56.706700 meters # Minimum depth: 106.502594 meters looking forward 50.000000 meters along route # Maximum depth: 107.922550 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.502594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777700; longitude = -121.878504; duration = 226; # abortOnTimeout = True; initialDepth = 58.235905; finalDepth = 56.502594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 56.502594 # Seafloor depth: -106.502594 # 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 15 # Segment length 50.035304 meters # Minimum depth: 108.235905 meters looking forward 50.000000 meters along route # Maximum depth: 110.500544 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.235905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777721; longitude = -121.879139; duration = 200; initialDepth = 61.284058; finalDepth = 58.235905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 58.235905 # Seafloor depth: -108.235905 # 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 15 # Segment length 50.035286 meters # Minimum depth: 111.284058 meters looking forward 50.000000 meters along route # Maximum depth: 115.674924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.284058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777740; longitude = -121.879699; duration = 200; initialDepth = 67.169845; finalDepth = 61.284058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 61.284058 # Seafloor depth: -111.284058 # 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 15 # Segment length 50.035268 meters # Minimum depth: 117.169845 meters looking forward 50.000000 meters along route # Maximum depth: 125.000083 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.169845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777759; longitude = -121.880259; duration = 200; initialDepth = 76.650573; finalDepth = 67.169845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 67.169845 # Seafloor depth: -117.169845 # 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 15 # Segment length 50.035249 meters # Minimum depth: 126.650573 meters looking forward 50.000000 meters along route # Maximum depth: 135.775924 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.650573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777778; longitude = -121.880819; duration = 200; initialDepth = 88.373791; finalDepth = 76.650573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 76.650573 # Seafloor depth: -126.650573 # 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 15 # Segment length 50.035230 meters # Minimum depth: 138.373791 meters looking forward 50.000000 meters along route # Maximum depth: 146.662221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.373791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777797; longitude = -121.881379; duration = 200; initialDepth = 99.146740; finalDepth = 88.373791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 88.373791 # Seafloor depth: -138.373791 # 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 15 # Segment length 50.035212 meters # Minimum depth: 149.146740 meters looking forward 50.000000 meters along route # Maximum depth: 157.120261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.146740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777815; longitude = -121.881939; duration = 200; initialDepth = 108.681258; finalDepth = 99.146740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 99.14674 # Seafloor depth: -149.146740 # 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 15 # Segment length 50.035194 meters # Minimum depth: 158.681258 meters looking forward 50.000000 meters along route # Maximum depth: 166.275036 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.681258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777834; longitude = -121.882499; duration = 200; initialDepth = 117.884696; finalDepth = 108.681258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 108.681258 # Seafloor depth: -158.681258 # 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 15 # Segment length 50.035175 meters # Minimum depth: 167.884696 meters looking forward 50.000000 meters along route # Maximum depth: 172.485473 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.884696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777853; longitude = -121.883060; duration = 200; initialDepth = 123.607753; finalDepth = 117.884696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 117.884696 # Seafloor depth: -167.884696 # 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 15 # Segment length 50.035157 meters # Minimum depth: 173.607753 meters looking forward 50.000000 meters along route # Maximum depth: 177.063102 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.607753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777872; longitude = -121.883620; duration = 200; initialDepth = 127.797792; finalDepth = 123.607753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 123.607753 # Seafloor depth: -173.607753 # 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 15 # Segment length 50.035139 meters # Minimum depth: 177.797792 meters looking forward 50.000000 meters along route # Maximum depth: 180.847665 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.797792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777891; longitude = -121.884180; duration = 200; initialDepth = 132.243086; finalDepth = 127.797792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 127.797792 # Seafloor depth: -177.797792 # 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 15 # Segment length 50.035120 meters # Minimum depth: 182.243086 meters looking forward 50.000000 meters along route # Maximum depth: 187.825775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.243086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777910; longitude = -121.884740; duration = 200; initialDepth = 138.347807; finalDepth = 132.243086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.243086 # Seafloor depth: -182.243086 # 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 15 # Segment length 50.035102 meters # Minimum depth: 188.347807 meters looking forward 50.000000 meters along route # Maximum depth: 194.978764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.347807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777929; longitude = -121.885300; duration = 200; initialDepth = 146.059904; finalDepth = 138.347807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 138.347807 # Seafloor depth: -188.347807 # 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 15 # Segment length 50.035084 meters # Minimum depth: 196.059904 meters looking forward 50.000000 meters along route # Maximum depth: 201.631262 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.059904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777948; longitude = -121.885860; duration = 200; initialDepth = 152.807345; finalDepth = 146.059904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.059904 # Seafloor depth: -196.059904 # 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 15 # Segment length 50.035065 meters # Minimum depth: 202.807345 meters looking forward 50.000000 meters along route # Maximum depth: 206.578894 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.807345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777966; longitude = -121.886421; duration = 200; initialDepth = 156.751889; finalDepth = 152.807345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 152.807345 # Seafloor depth: -202.807345 # 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 15 # Segment length 50.035046 meters # Minimum depth: 206.751889 meters looking forward 50.000000 meters along route # Maximum depth: 210.139692 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 156.751889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777985; longitude = -121.886981; duration = 200; initialDepth = 160.970898; finalDepth = 156.751889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 156.751889 # Seafloor depth: -206.751889 # 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 15 # Segment length 50.035029 meters # Minimum depth: 210.970898 meters looking forward 50.000000 meters along route # Maximum depth: 214.634768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.970898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778004; longitude = -121.887541; duration = 200; initialDepth = 164.911401; finalDepth = 160.970898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 160.970898 # Seafloor depth: -210.970898 # 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 15 # Segment length 50.035010 meters # Minimum depth: 214.911401 meters looking forward 50.000000 meters along route # Maximum depth: 218.707263 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.911401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778023; longitude = -121.888101; duration = 200; initialDepth = 170.850037; finalDepth = 164.911401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 164.911401 # Seafloor depth: -214.911401 # 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 15 # Segment length 50.034991 meters # Minimum depth: 220.850037 meters looking forward 50.000000 meters along route # Maximum depth: 225.938804 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.850037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778042; longitude = -121.888661; duration = 200; initialDepth = 177.365632; finalDepth = 170.850037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 170.850037 # Seafloor depth: -220.850037 # 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 15 # Segment length 50.034974 meters # Minimum depth: 227.365632 meters looking forward 50.000000 meters along route # Maximum depth: 234.960508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.365632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778061; longitude = -121.889221; duration = 200; initialDepth = 186.121957; finalDepth = 177.365632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 177.365632 # Seafloor depth: -227.365632 # 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 15 # Segment length 50.034955 meters # Minimum depth: 236.121957 meters looking forward 50.000000 meters along route # Maximum depth: 245.792784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.121957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778080; longitude = -121.889782; duration = 200; initialDepth = 197.633165; finalDepth = 186.121957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 186.121957 # Seafloor depth: -236.121957 # 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 15 # Segment length 50.034936 meters # Minimum depth: 247.633165 meters looking forward 50.000000 meters along route # Maximum depth: 259.475910 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.633165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778099; longitude = -121.890342; duration = 200; initialDepth = 211.039985; finalDepth = 197.633165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 197.633165 # Seafloor depth: -247.633165 # 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 15 # Segment length 50.034918 meters # Minimum depth: 263.280249 meters looking forward 50.000000 meters along route # Maximum depth: 278.454137 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.039985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778117; longitude = -121.890902; duration = 200; initialDepth = 224.446801; finalDepth = 211.039985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2402635449467 # Actual altitude: 52.2402635449467 # Commanded vehicle depth: 211.039985455053 # Seafloor depth: -263.280249 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034900 meters # Minimum depth: 284.487561 meters looking forward 50.000000 meters along route # Maximum depth: 302.272548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.446801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778136; longitude = -121.891462; duration = 200; initialDepth = 237.853612; finalDepth = 224.446801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0407599129789 # Actual altitude: 60.0407599129789 # Commanded vehicle depth: 224.446801087021 # Seafloor depth: -284.487561 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034882 meters # Minimum depth: 304.550645 meters looking forward 50.000000 meters along route # Maximum depth: 318.738408 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 237.853612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778155; longitude = -121.892022; duration = 200; initialDepth = 251.260418; finalDepth = 237.853612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6970331040962 # Actual altitude: 66.6970331040962 # Commanded vehicle depth: 237.853611895904 # Seafloor depth: -304.550645 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034863 meters # Minimum depth: 320.169718 meters looking forward 50.000000 meters along route # Maximum depth: 337.675651 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.260418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778174; longitude = -121.892582; duration = 200; initialDepth = 264.667219; finalDepth = 251.260418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.909300118299 # Actual altitude: 68.909300118299 # Commanded vehicle depth: 251.260417881701 # Seafloor depth: -320.169718 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034845 meters # Minimum depth: 343.135688 meters looking forward 50.000000 meters along route # Maximum depth: 354.047312 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.667219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778193; longitude = -121.893142; duration = 200; initialDepth = 278.074015; finalDepth = 264.667219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4684692235367 # Actual altitude: 78.4684692235367 # Commanded vehicle depth: 264.667218776463 # Seafloor depth: -343.135688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034826 meters # Minimum depth: 357.241780 meters looking forward 50.000000 meters along route # Maximum depth: 368.036488 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.074015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778212; longitude = -121.893703; duration = 200; initialDepth = 291.480806; finalDepth = 278.074015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1677651518594 # Actual altitude: 79.1677651518594 # Commanded vehicle depth: 278.074014848141 # Seafloor depth: -357.241780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034808 meters # Minimum depth: 369.636757 meters looking forward 50.000000 meters along route # Maximum depth: 382.721891 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.480806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778231; longitude = -121.894263; duration = 200; initialDepth = 304.887592; finalDepth = 291.480806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.1677651518594 # Actual altitude: 79.1677651518594 # Commanded vehicle depth: 291.480805828784 # Seafloor depth: -369.636757 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034790 meters # Minimum depth: 387.974172 meters looking forward 50.000000 meters along route # Maximum depth: 410.018593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.887592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778250; longitude = -121.894823; duration = 200; initialDepth = 318.294373; finalDepth = 304.887592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.086580013659 # Actual altitude: 83.086580013659 # Commanded vehicle depth: 304.887591986341 # Seafloor depth: -387.974172 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034772 meters # Minimum depth: 410.450945 meters looking forward 50.000000 meters along route # Maximum depth: 430.728201 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.294373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778268; longitude = -121.895383; duration = 200; initialDepth = 331.701150; finalDepth = 318.294373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.1565716791872 # Actual altitude: 92.1565716791872 # Commanded vehicle depth: 318.294373320813 # Seafloor depth: -410.450945 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 36.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034753 meters # Minimum depth: 432.164913 meters looking forward 50.000000 meters along route # Maximum depth: 455.819276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.701150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778287; longitude = -121.895943; duration = 200; initialDepth = 345.107921; finalDepth = 331.701150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.463763167801 # Actual altitude: 100 # Commanded vehicle depth: 331.701149832199 # Seafloor depth: -432.164913 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034735 meters # Minimum depth: 464.721788 meters looking forward 50.000000 meters along route # Maximum depth: 497.806240 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.107921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778306; longitude = -121.896503; duration = 200; initialDepth = 358.514688; finalDepth = 345.107921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.613866747449 # Actual altitude: 100 # Commanded vehicle depth: 345.107921252551 # Seafloor depth: -464.721788 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034717 meters # Minimum depth: 499.303266 meters looking forward 50.000000 meters along route # Maximum depth: 524.084482 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.514688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778325; longitude = -121.897064; duration = 200; initialDepth = 371.921450; finalDepth = 358.514688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 140.788578150182 # Actual altitude: 100 # Commanded vehicle depth: 358.514687849818 # Seafloor depth: -499.303266 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034698 meters # Minimum depth: 526.496660 meters looking forward 50.000000 meters along route # Maximum depth: 547.938099 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.921450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778344; longitude = -121.897624; duration = 200; initialDepth = 385.328206; finalDepth = 371.921450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 154.575210376001 # Actual altitude: 100 # Commanded vehicle depth: 371.921449623999 # Seafloor depth: -526.496660 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034680 meters # Minimum depth: 543.815075 meters looking forward 50.000000 meters along route # Maximum depth: 555.342341 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 385.328206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778363; longitude = -121.898184; duration = 200; initialDepth = 398.734958; finalDepth = 385.328206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 158.486868692854 # Actual altitude: 100 # Commanded vehicle depth: 385.328206307146 # Seafloor depth: -543.815075 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 50.034661 meters # Minimum depth: 555.263103 meters looking forward 50.000000 meters along route # Maximum depth: 558.716275 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.734958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778382; longitude = -121.898744; duration = 200; initialDepth = 412.141705; finalDepth = 398.734958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 158.486868692854 # Actual altitude: 100 # Commanded vehicle depth: 398.734958167207 # Seafloor depth: -555.263103 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 53.370286 meters # Minimum depth: 558.919934 meters looking forward 50.000000 meters along route # Maximum depth: 562.368718 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.141705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778400; longitude = -121.899304; duration = 213; initialDepth = 426.442230; finalDepth = 412.141705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 156.528144832793 # Actual altitude: 100 # Commanded vehicle depth: 412.141704936233 # Seafloor depth: -558.919934 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 43.531233 meters # Minimum depth: 559.053134 meters looking forward 50.000000 meters along route # Maximum depth: 562.523315 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 426.442230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778421; longitude = -121.899902; duration = 174; # abortOnTimeout = True; initialDepth = 438.106388; finalDepth = 426.442230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 146.778229063767 # Actual altitude: 100 # Commanded vehicle depth: 426.442229714298 # Seafloor depth: -562.523315 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 59.360630 meters # Minimum depth: 558.758512 meters looking forward 50.000000 meters along route # Maximum depth: 560.143517 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.106388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778632; longitude = -121.900313; duration = 237; initialDepth = 454.012021; finalDepth = 438.106388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 136.081085285702 # Actual altitude: 100 # Commanded vehicle depth: 438.106388233819 # Seafloor depth: -559.037470 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 51.623605 meters # Minimum depth: 557.424670 meters looking forward 50.000000 meters along route # Maximum depth: 559.388747 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.012021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778921; longitude = -121.900873; duration = 206; initialDepth = 467.844524; finalDepth = 454.012021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.931081766181 # Actual altitude: 100 # Commanded vehicle depth: 454.012020820395 # Seafloor depth: -559.388747 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 55.625296 meters # Minimum depth: 554.731954 meters looking forward 50.000000 meters along route # Maximum depth: 557.109209 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.844524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779172; longitude = -121.901360; duration = 222; initialDepth = 482.749277; finalDepth = 467.844524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.376726179605 # Actual altitude: 100 # Commanded vehicle depth: 467.844523843435 # Seafloor depth: -557.109209 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 58.959989 meters # Minimum depth: 552.974324 meters looking forward 50.000000 meters along route # Maximum depth: 556.114405 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.749277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779442; longitude = -121.901885; duration = 235; initialDepth = 498.547558; finalDepth = 482.749277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.2646851565655 # Actual altitude: 89.2646851565655 # Commanded vehicle depth: 482.749276719129 # Seafloor depth: -554.700467 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 35.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 52.290171 meters # Minimum depth: 550.469243 meters looking forward 50.000000 meters along route # Maximum depth: 553.437303 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.547558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779729; longitude = -121.902441; duration = 209; initialDepth = 498.872086; finalDepth = 498.547558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9511902808708 # Actual altitude: 71.9511902808708 # Commanded vehicle depth: 498.547557875218 # Seafloor depth: -552.770486 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 55.624864 meters # Minimum depth: 548.872086 meters looking forward 50.000000 meters along route # Maximum depth: 553.623735 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.872086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779983; longitude = -121.902935; duration = 222; initialDepth = 500.559961; finalDepth = 498.872086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2229281247821 # Actual altitude: 54.2229281247821 # Commanded vehicle depth: 498.872086 # Seafloor depth: -551.537432 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 58.292568 meters # Minimum depth: 550.559961 meters looking forward 50.000000 meters along route # Maximum depth: 553.793498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.559961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780253; longitude = -121.903459; duration = 233; initialDepth = 500.744206; finalDepth = 500.559961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.665346 # Actual altitude: 52.665346 # Commanded vehicle depth: 500.559961 # Seafloor depth: -551.181012 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 59.359547 meters # Minimum depth: 550.744206 meters looking forward 50.000000 meters along route # Maximum depth: 554.064128 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.744206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780536; longitude = -121.904010; duration = 237; initialDepth = 500.336324; finalDepth = 500.744206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.319922 # Actual altitude: 53.319922 # Commanded vehicle depth: 500.744206 # Seafloor depth: -554.064128 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 55.402095 meters # Minimum depth: 550.336324 meters looking forward 50.000000 meters along route # Maximum depth: 552.021702 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.336324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780825; longitude = -121.904570; duration = 221; initialDepth = 499.898265; finalDepth = 500.336324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.319922 # Actual altitude: 53.319922 # Commanded vehicle depth: 500.336324 # Seafloor depth: -550.336324 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 13 # Segment length 39.209780 meters # Minimum depth: 549.898265 meters looking forward 50.000000 meters along route # Maximum depth: 551.861896 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.898265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781094; longitude = -121.905093; duration = 156; # abortOnTimeout = True; initialDepth = 500.629698; finalDepth = 499.898265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.33611 # Actual altitude: 50.33611 # Commanded vehicle depth: 499.898265 # Seafloor depth: -550.234375 # 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 13 # Segment length 53.467853 meters # Minimum depth: 550.629698 meters looking forward 50.000000 meters along route # Maximum depth: 551.997980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 500.629698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781425; longitude = -121.904937; duration = 213; initialDepth = 498.906006; finalDepth = 500.629698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.33611 # Actual altitude: 50.33611 # Commanded vehicle depth: 500.629698 # Seafloor depth: -550.705175 # 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 13 # Segment length 53.467819 meters # Minimum depth: 548.906006 meters looking forward 50.000000 meters along route # Maximum depth: 551.234914 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.906006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781875; longitude = -121.904724; duration = 213; initialDepth = 496.259345; finalDepth = 498.906006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3272049999999 # Actual altitude: 52.3272049999999 # Commanded vehicle depth: 498.906006 # Seafloor depth: -551.233211 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 53.467786 meters # Minimum depth: 546.259345 meters looking forward 50.000000 meters along route # Maximum depth: 549.551484 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.259345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782326; longitude = -121.904512; duration = 213; initialDepth = 494.876753; finalDepth = 496.259345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2921389999999 # Actual altitude: 53.2921389999999 # Commanded vehicle depth: 496.259345 # Seafloor depth: -549.551484 # 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 13 # Segment length 53.467753 meters # Minimum depth: 544.876753 meters looking forward 50.000000 meters along route # Maximum depth: 548.059857 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.876753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782777; longitude = -121.904299; duration = 213; initialDepth = 493.109741; finalDepth = 494.876753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2921389999999 # Actual altitude: 53.2921389999999 # Commanded vehicle depth: 494.876753 # Seafloor depth: -548.059857 # 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 13 # Segment length 57.032232 meters # Minimum depth: 543.109741 meters looking forward 50.000000 meters along route # Maximum depth: 545.711984 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.109741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783227; longitude = -121.904087; duration = 228; initialDepth = 490.126401; finalDepth = 493.109741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.183104 # Actual altitude: 53.183104 # Commanded vehicle depth: 493.109741 # Seafloor depth: -545.711984 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 12 # Segment length 66.687484 meters # Minimum depth: 540.126401 meters looking forward 50.000000 meters along route # Maximum depth: 543.638835 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.126401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783708; longitude = -121.903860; duration = 266; # abortOnTimeout = True; initialDepth = 488.216919; finalDepth = 490.126401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.512434 # Actual altitude: 53.512434 # Commanded vehicle depth: 490.126401 # Seafloor depth: -543.638835 # 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 12 # Segment length 50.015618 meters # Minimum depth: 538.216919 meters looking forward 50.000000 meters along route # Maximum depth: 539.540686 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.216919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784309; longitude = -121.903838; duration = 200; initialDepth = 486.861008; finalDepth = 488.216919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.512434 # Actual altitude: 53.512434 # Commanded vehicle depth: 488.216919 # Seafloor depth: -539.540686 # 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 12 # Segment length 50.015620 meters # Minimum depth: 536.861008 meters looking forward 50.000000 meters along route # Maximum depth: 538.883819 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 486.861008 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784759; longitude = -121.903821; duration = 200; initialDepth = 479.661165; finalDepth = 486.861008; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3237670000001 # Actual altitude: 51.3237670000001 # Commanded vehicle depth: 486.861008 # Seafloor depth: -536.861008 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015625 meters # Minimum depth: 529.661165 meters looking forward 50.000000 meters along route # Maximum depth: 536.568826 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.661165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785210; longitude = -121.903804; duration = 200; initialDepth = 478.734527; finalDepth = 479.661165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.907661 # Actual altitude: 56.907661 # Commanded vehicle depth: 479.661165 # Seafloor depth: -536.568826 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015628 meters # Minimum depth: 528.734527 meters looking forward 50.000000 meters along route # Maximum depth: 530.130710 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.734527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785661; longitude = -121.903787; duration = 200; initialDepth = 481.120674; finalDepth = 478.734527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.907661 # Actual altitude: 56.907661 # Commanded vehicle depth: 478.734527 # Seafloor depth: -529.226013 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015632 meters # Minimum depth: 531.120674 meters looking forward 50.000000 meters along route # Maximum depth: 532.639451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.120674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786111; longitude = -121.903770; duration = 200; initialDepth = 480.540536; finalDepth = 481.120674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.518777 # Actual altitude: 51.518777 # Commanded vehicle depth: 481.120674 # Seafloor depth: -532.639451 # 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 12 # Segment length 50.015635 meters # Minimum depth: 530.540536 meters looking forward 50.000000 meters along route # Maximum depth: 531.295617 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.540536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786562; longitude = -121.903753; duration = 200; initialDepth = 478.185485; finalDepth = 480.540536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.518777 # Actual altitude: 51.518777 # Commanded vehicle depth: 480.540536 # Seafloor depth: -531.188066 # 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 12 # Segment length 50.015639 meters # Minimum depth: 528.185485 meters looking forward 50.000000 meters along route # Maximum depth: 530.456610 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 478.185485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787012; longitude = -121.903736; duration = 200; initialDepth = 477.946185; finalDepth = 478.185485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.271125 # Actual altitude: 52.271125 # Commanded vehicle depth: 478.185485 # Seafloor depth: -530.456610 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015643 meters # Minimum depth: 527.946185 meters looking forward 50.000000 meters along route # Maximum depth: 529.088977 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.946185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787463; longitude = -121.903719; duration = 200; initialDepth = 476.990749; finalDepth = 477.946185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.271125 # Actual altitude: 52.271125 # Commanded vehicle depth: 477.946185 # Seafloor depth: -529.088977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015646 meters # Minimum depth: 526.990749 meters looking forward 50.000000 meters along route # Maximum depth: 528.097491 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 476.990749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787914; longitude = -121.903702; duration = 200; initialDepth = 475.458722; finalDepth = 476.990749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.142792 # Actual altitude: 51.142792 # Commanded vehicle depth: 476.990749 # Seafloor depth: -528.097491 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015650 meters # Minimum depth: 525.458722 meters looking forward 50.000000 meters along route # Maximum depth: 526.550215 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.458722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.903686; duration = 200; initialDepth = 475.017914; finalDepth = 475.458722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1067419999999 # Actual altitude: 51.1067419999999 # Commanded vehicle depth: 475.458722 # Seafloor depth: -526.064973 # 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 12 # Segment length 50.015654 meters # Minimum depth: 525.017914 meters looking forward 50.000000 meters along route # Maximum depth: 526.170936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.017914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788815; longitude = -121.903669; duration = 200; initialDepth = 474.376831; finalDepth = 475.017914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.709534 # Actual altitude: 50.709534 # Commanded vehicle depth: 475.017914 # Seafloor depth: -525.727448 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015657 meters # Minimum depth: 524.376831 meters looking forward 50.000000 meters along route # Maximum depth: 525.318857 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.376831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789266; longitude = -121.903652; duration = 200; initialDepth = 474.329621; finalDepth = 474.376831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9420259999999 # Actual altitude: 50.9420259999999 # Commanded vehicle depth: 474.376831 # Seafloor depth: -525.318857 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 50.015661 meters # Minimum depth: 524.329621 meters looking forward 50.000000 meters along route # Maximum depth: 525.406728 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 474.329621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -121.903635; duration = 200; initialDepth = 473.408345; finalDepth = 474.329621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9420259999999 # Actual altitude: 50.9420259999999 # Commanded vehicle depth: 474.329621 # Seafloor depth: -524.329621 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 56.684420 meters # Minimum depth: 523.408345 meters looking forward 50.000000 meters along route # Maximum depth: 525.484371 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.408345 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -121.903618; duration = 226; initialDepth = 466.177424; finalDepth = 473.408345; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.076026 # Actual altitude: 52.076026 # Commanded vehicle depth: 473.408345 # Seafloor depth: -525.484371 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 11 # Segment length 64.787705 meters # Minimum depth: 516.177424 meters looking forward 50.000000 meters along route # Maximum depth: 523.619736 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.177424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790678; longitude = -121.903599; duration = 259; # abortOnTimeout = True; initialDepth = 447.197856; finalDepth = 466.177424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.075384 # Actual altitude: 57.075384 # Commanded vehicle depth: 466.177424 # Seafloor depth: -523.252808 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.148125 meters # Minimum depth: 497.197856 meters looking forward 50.000000 meters along route # Maximum depth: 515.169745 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.197856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790801; longitude = -121.902889; duration = 204; initialDepth = 410.643123; finalDepth = 447.197856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.971889 # Actual altitude: 67.971889 # Commanded vehicle depth: 447.197856 # Seafloor depth: -515.169745 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.148068 meters # Minimum depth: 460.643123 meters looking forward 50.000000 meters along route # Maximum depth: 492.909911 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.643123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790899; longitude = -121.902329; duration = 204; initialDepth = 387.349337; finalDepth = 410.643123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.266788 # Actual altitude: 82.266788 # Commanded vehicle depth: 410.643123 # Seafloor depth: -492.909911 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.148013 meters # Minimum depth: 437.349337 meters looking forward 50.000000 meters along route # Maximum depth: 456.311060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.349337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790997; longitude = -121.901769; duration = 204; initialDepth = 373.258081; finalDepth = 387.349337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.266788 # Actual altitude: 82.266788 # Commanded vehicle depth: 387.349337 # Seafloor depth: -456.311060 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.147957 meters # Minimum depth: 423.258081 meters looking forward 50.000000 meters along route # Maximum depth: 432.156064 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.258081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791095; longitude = -121.901209; duration = 204; initialDepth = 365.850566; finalDepth = 373.258081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.961723 # Actual altitude: 68.961723 # Commanded vehicle depth: 373.258081 # Seafloor depth: -432.156064 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 27.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.147901 meters # Minimum depth: 415.850566 meters looking forward 50.000000 meters along route # Maximum depth: 419.726395 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 365.850566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791193; longitude = -121.900649; duration = 204; initialDepth = 362.979371; finalDepth = 365.850566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.897983 # Actual altitude: 58.897983 # Commanded vehicle depth: 365.850566 # Seafloor depth: -419.726395 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.147845 meters # Minimum depth: 412.979371 meters looking forward 50.000000 meters along route # Maximum depth: 415.141780 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.979371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791291; longitude = -121.900088; duration = 204; initialDepth = 356.903073; finalDepth = 362.979371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.875829 # Actual altitude: 53.875829 # Commanded vehicle depth: 362.979371 # Seafloor depth: -415.141780 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.147789 meters # Minimum depth: 406.903073 meters looking forward 50.000000 meters along route # Maximum depth: 411.909417 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.903073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791389; longitude = -121.899528; duration = 204; initialDepth = 349.725022; finalDepth = 356.903073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.006344 # Actual altitude: 55.006344 # Commanded vehicle depth: 356.903073 # Seafloor depth: -411.909417 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.147734 meters # Minimum depth: 399.725022 meters looking forward 50.000000 meters along route # Maximum depth: 405.783856 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.725022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791486; longitude = -121.898968; duration = 204; initialDepth = 337.851986; finalDepth = 349.725022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.028901 # Actual altitude: 56.028901 # Commanded vehicle depth: 349.725022 # Seafloor depth: -405.753923 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 51.587332 meters # Minimum depth: 387.851986 meters looking forward 50.000000 meters along route # Maximum depth: 398.909884 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.851986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791584; longitude = -121.898408; duration = 206; initialDepth = 331.408477; finalDepth = 337.851986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.057898 # Actual altitude: 61.057898 # Commanded vehicle depth: 337.851986 # Seafloor depth: -398.909884 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; 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 10 # Segment length 71.180109 meters # Minimum depth: 381.408477 meters looking forward 50.000000 meters along route # Maximum depth: 386.385765 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.408477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791683; longitude = -121.897843; duration = 284; # abortOnTimeout = True; initialDepth = 330.751905; finalDepth = 331.408477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.057898 # Actual altitude: 61.057898 # Commanded vehicle depth: 331.408477 # Seafloor depth: -386.385765 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.711513 meters # Minimum depth: 380.751905 meters looking forward 50.000000 meters along route # Maximum depth: 382.112545 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.751905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791222; longitude = -121.897288; duration = 206; initialDepth = 331.569516; finalDepth = 330.751905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.977288 # Actual altitude: 54.977288 # Commanded vehicle depth: 330.751905 # Seafloor depth: -381.520427 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.711539 meters # Minimum depth: 381.569516 meters looking forward 50.000000 meters along route # Maximum depth: 382.440411 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.569516 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790888; longitude = -121.896884; duration = 222; initialDepth = 331.152760; finalDepth = 331.569516; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.821687 # Actual altitude: 50.821687 # Commanded vehicle depth: 331.569516 # Seafloor depth: -382.391203 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.711669 meters # Minimum depth: 381.152760 meters looking forward 50.000000 meters along route # Maximum depth: 382.219966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.152760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.896450; duration = 222; initialDepth = 331.063268; finalDepth = 331.152760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.821687 # Actual altitude: 50.821687 # Commanded vehicle depth: 331.15276 # Seafloor depth: -381.374253 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.711799 meters # Minimum depth: 381.063268 meters looking forward 50.000000 meters along route # Maximum depth: 382.749767 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.063268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -121.896015; duration = 222; initialDepth = 332.560933; finalDepth = 331.063268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.221493 # Actual altitude: 50.221493 # Commanded vehicle depth: 331.063268 # Seafloor depth: -381.276383 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.711930 meters # Minimum depth: 382.560933 meters looking forward 50.000000 meters along route # Maximum depth: 384.022415 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.560933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.895580; duration = 222; initialDepth = 334.075046; finalDepth = 332.560933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.213115 # Actual altitude: 50.213115 # Commanded vehicle depth: 332.560933 # Seafloor depth: -382.762987 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.712059 meters # Minimum depth: 384.075046 meters looking forward 50.000000 meters along route # Maximum depth: 385.801080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.075046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.895146; duration = 222; initialDepth = 335.127031; finalDepth = 334.075046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.202054 # Actual altitude: 50.202054 # Commanded vehicle depth: 334.075046 # Seafloor depth: -384.075046 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 57.438444 meters # Minimum depth: 385.127031 meters looking forward 50.000000 meters along route # Maximum depth: 386.260207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.127031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.894711; duration = 229; initialDepth = 334.999254; finalDepth = 335.127031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 335.127031 # Seafloor depth: -385.127031 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 57.438899 meters # Minimum depth: 384.999254 meters looking forward 50.000000 meters along route # Maximum depth: 386.551482 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.999254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788714; longitude = -121.894263; duration = 229; initialDepth = 331.332052; finalDepth = 334.999254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.226755 # Actual altitude: 51.226755 # Commanded vehicle depth: 334.999254 # Seafloor depth: -386.226009 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 57.439037 meters # Minimum depth: 381.332052 meters looking forward 50.000000 meters along route # Maximum depth: 384.995228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.332052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788342; longitude = -121.893815; duration = 229; initialDepth = 328.319109; finalDepth = 331.332052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.663176 # Actual altitude: 53.663176 # Commanded vehicle depth: 331.332052 # Seafloor depth: -384.995228 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 50.533158 meters # Minimum depth: 378.319109 meters looking forward 50.000000 meters along route # Maximum depth: 381.483627 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.319109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787970; longitude = -121.893367; duration = 202; initialDepth = 318.865766; finalDepth = 328.319109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.663176 # Actual altitude: 53.663176 # Commanded vehicle depth: 328.319109 # Seafloor depth: -380.780269 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 55.712709 meters # Minimum depth: 368.865766 meters looking forward 50.000000 meters along route # Maximum depth: 377.862062 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.865766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.892972; duration = 222; initialDepth = 313.466882; finalDepth = 318.865766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.996296 # Actual altitude: 58.996296 # Commanded vehicle depth: 318.865766 # Seafloor depth: -377.862062 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 51.712199 meters # Minimum depth: 363.466882 meters looking forward 50.000000 meters along route # Maximum depth: 367.959544 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.466882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787283; longitude = -121.892538; duration = 206; initialDepth = 306.472577; finalDepth = 313.466882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.996296 # Actual altitude: 58.996296 # Commanded vehicle depth: 313.466882 # Seafloor depth: -367.959544 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 52.579389 meters # Minimum depth: 356.472577 meters looking forward 50.000000 meters along route # Maximum depth: 362.322479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.472577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786948; longitude = -121.892134; duration = 210; initialDepth = 305.299019; finalDepth = 306.472577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.849902 # Actual altitude: 55.849902 # Commanded vehicle depth: 306.472577 # Seafloor depth: -362.322479 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 52.474813 meters # Minimum depth: 355.299019 meters looking forward 50.000000 meters along route # Maximum depth: 362.069549 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.299019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786608; longitude = -121.891724; duration = 209; # abortOnTimeout = True; initialDepth = 312.320094; finalDepth = 305.299019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.849902 # Actual altitude: 55.849902 # Commanded vehicle depth: 305.299019 # Seafloor depth: -355.299019 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 57.325174 meters # Minimum depth: 362.320094 meters looking forward 50.000000 meters along route # Maximum depth: 367.967628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 312.320094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786947; longitude = -121.892134; duration = 229; initialDepth = 318.807009; finalDepth = 312.320094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 312.320094 # Seafloor depth: -362.320094 # 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 50.505356 meters # Minimum depth: 368.807009 meters looking forward 50.000000 meters along route # Maximum depth: 376.528885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.807009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787317; longitude = -121.892582; duration = 202; initialDepth = 327.826037; finalDepth = 318.807009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 318.807009 # Seafloor depth: -368.807009 # 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 55.817401 meters # Minimum depth: 377.826037 meters looking forward 50.000000 meters along route # Maximum depth: 381.405192 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.826037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.892977; duration = 223; initialDepth = 331.404584; finalDepth = 327.826037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 327.826037 # Seafloor depth: -377.826037 # 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 55.817270 meters # Minimum depth: 381.404584 meters looking forward 50.000000 meters along route # Maximum depth: 385.040269 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.404584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788004; longitude = -121.893413; duration = 223; initialDepth = 335.046280; finalDepth = 331.404584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 331.404584 # Seafloor depth: -381.404584 # 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 55.817139 meters # Minimum depth: 385.046280 meters looking forward 50.000000 meters along route # Maximum depth: 386.554129 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.046280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.893850; duration = 223; initialDepth = 335.323848; finalDepth = 335.046280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 335.04628 # Seafloor depth: -385.046280 # 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 55.817008 meters # Minimum depth: 385.323848 meters looking forward 50.000000 meters along route # Maximum depth: 386.314248 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.323848 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788725; longitude = -121.894286; duration = 223; initialDepth = 334.131159; finalDepth = 335.323848; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9904 # Actual altitude: 50.9904 # Commanded vehicle depth: 335.323848 # Seafloor depth: -386.314248 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 55.842899 meters # Minimum depth: 384.131159 meters looking forward 50.000000 meters along route # Maximum depth: 385.804293 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.131159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.894723; duration = 223; initialDepth = 332.597449; finalDepth = 334.131159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.025422 # Actual altitude: 51.025422 # Commanded vehicle depth: 334.131159 # Seafloor depth: -385.156581 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 57.324243 meters # Minimum depth: 382.597449 meters looking forward 50.000000 meters along route # Maximum depth: 384.130371 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.597449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.895159; duration = 229; initialDepth = 331.095119; finalDepth = 332.597449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.532922 # Actual altitude: 51.532922 # Commanded vehicle depth: 332.597449 # Seafloor depth: -384.130371 # 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 9 # Segment length 57.324105 meters # Minimum depth: 381.095119 meters looking forward 50.000000 meters along route # Maximum depth: 382.848316 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.095119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789816; longitude = -121.895607; duration = 229; initialDepth = 331.200754; finalDepth = 331.095119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.725917 # Actual altitude: 51.725917 # Commanded vehicle depth: 331.095119 # Seafloor depth: -382.821036 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 52.775478 meters # Minimum depth: 381.200754 meters looking forward 50.000000 meters along route # Maximum depth: 382.270497 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.200754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790186; longitude = -121.896055; duration = 211; initialDepth = 331.361927; finalDepth = 331.200754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.725917 # Actual altitude: 51.725917 # Commanded vehicle depth: 331.200754 # Seafloor depth: -381.200754 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 51.822627 meters # Minimum depth: 381.361927 meters looking forward 50.000000 meters along route # Maximum depth: 382.651818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.361927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.896468; duration = 207; initialDepth = 332.261694; finalDepth = 331.361927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 331.361927 # Seafloor depth: -381.361927 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 48.887006 meters # Minimum depth: 382.261694 meters looking forward 50.000000 meters along route # Maximum depth: 384.989594 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.261694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790862; longitude = -121.896873; duration = 195; # abortOnTimeout = True; initialDepth = 334.833146; finalDepth = 332.261694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.057909 # Actual altitude: 50.057909 # Commanded vehicle depth: 332.261694 # Seafloor depth: -382.319603 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 52.787858 meters # Minimum depth: 384.833146 meters looking forward 50.000000 meters along route # Maximum depth: 387.120194 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.833146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.897019; duration = 211; initialDepth = 337.180959; finalDepth = 334.833146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.057909 # Actual altitude: 50.057909 # Commanded vehicle depth: 334.833146 # Seafloor depth: -384.833146 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 50.922697 meters # Minimum depth: 387.180959 meters looking forward 50.000000 meters along route # Maximum depth: 389.453197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 337.180959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789978; longitude = -121.897176; duration = 203; initialDepth = 341.045414; finalDepth = 337.180959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 337.180959 # Seafloor depth: -387.180959 # 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 51.855302 meters # Minimum depth: 391.045414 meters looking forward 50.000000 meters along route # Maximum depth: 394.231119 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.045414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789536; longitude = -121.897327; duration = 207; initialDepth = 345.088026; finalDepth = 341.045414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 341.045414 # Seafloor depth: -391.045414 # 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 51.855318 meters # Minimum depth: 395.088026 meters looking forward 50.000000 meters along route # Maximum depth: 400.385179 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 345.088026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.897482; duration = 207; initialDepth = 351.033551; finalDepth = 345.088026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 345.088026 # Seafloor depth: -395.088026 # 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 51.855334 meters # Minimum depth: 401.033551 meters looking forward 50.000000 meters along route # Maximum depth: 405.424767 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 351.033551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788635; longitude = -121.897636; duration = 207; initialDepth = 355.965132; finalDepth = 351.033551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 351.033551 # Seafloor depth: -401.033551 # 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 51.855350 meters # Minimum depth: 405.965132 meters looking forward 50.000000 meters along route # Maximum depth: 411.954055 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.965132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788184; longitude = -121.897790; duration = 207; initialDepth = 362.495071; finalDepth = 355.965132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 355.965132 # Seafloor depth: -405.965132 # 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 51.855367 meters # Minimum depth: 412.495071 meters looking forward 50.000000 meters along route # Maximum depth: 416.794511 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.495071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787733; longitude = -121.897945; duration = 207; initialDepth = 366.575608; finalDepth = 362.495071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 362.495071 # Seafloor depth: -412.495071 # 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 51.855382 meters # Minimum depth: 416.575608 meters looking forward 50.000000 meters along route # Maximum depth: 418.739447 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.575608 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787283; longitude = -121.898099; duration = 207; initialDepth = 368.221698; finalDepth = 366.575608; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940123 # Actual altitude: 51.940123 # Commanded vehicle depth: 366.575608 # Seafloor depth: -418.515731 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.983890 meters # Minimum depth: 418.221698 meters looking forward 50.000000 meters along route # Maximum depth: 419.084621 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.221698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786832; longitude = -121.898253; duration = 207; initialDepth = 366.737979; finalDepth = 368.221698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.940123 # Actual altitude: 51.940123 # Commanded vehicle depth: 368.221698 # Seafloor depth: -418.221698 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 51.726923 meters # Minimum depth: 416.737979 meters looking forward 50.000000 meters along route # Maximum depth: 419.081050 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.737979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786380; longitude = -121.898408; duration = 206; initialDepth = 367.097458; finalDepth = 366.737979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.343071 # Actual altitude: 52.343071 # Commanded vehicle depth: 366.737979 # Seafloor depth: -419.081050 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 59.490491 meters # Minimum depth: 417.097458 meters looking forward 50.000000 meters along route # Maximum depth: 418.729928 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 367.097458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785931; longitude = -121.898562; duration = 237; initialDepth = 362.947134; finalDepth = 367.097458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.343071 # Actual altitude: 52.343071 # Commanded vehicle depth: 367.097458 # Seafloor depth: -417.777291 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.94; 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 80.252270 meters # Minimum depth: 412.947134 meters looking forward 50.000000 meters along route # Maximum depth: 418.447083 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.947134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785414; longitude = -121.898739; duration = 321; # abortOnTimeout = True; initialDepth = 360.312837; finalDepth = 362.947134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.499949 # Actual altitude: 55.499949 # Commanded vehicle depth: 362.947134 # Seafloor depth: -418.447083 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 53.907726 meters # Minimum depth: 410.312837 meters looking forward 50.000000 meters along route # Maximum depth: 413.197311 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.312837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785899; longitude = -121.898072; duration = 215; initialDepth = 357.606887; finalDepth = 360.312837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.499949 # Actual altitude: 55.499949 # Commanded vehicle depth: 360.312837 # Seafloor depth: -412.651883 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 55.729204 meters # Minimum depth: 407.606887 meters looking forward 50.000000 meters along route # Maximum depth: 410.379022 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.606887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786225; longitude = -121.897624; duration = 222; initialDepth = 354.457642; finalDepth = 357.606887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.772135 # Actual altitude: 52.772135 # Commanded vehicle depth: 357.606887 # Seafloor depth: -410.379022 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 52.085889 meters # Minimum depth: 404.457642 meters looking forward 50.000000 meters along route # Maximum depth: 407.544288 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.457642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786562; longitude = -121.897160; duration = 208; initialDepth = 350.794670; finalDepth = 354.457642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.086646 # Actual altitude: 53.086646 # Commanded vehicle depth: 354.457642 # Seafloor depth: -407.544288 # 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 7 # Segment length 54.313244 meters # Minimum depth: 400.794670 meters looking forward 50.000000 meters along route # Maximum depth: 404.126102 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.794670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786877; longitude = -121.896727; duration = 217; initialDepth = 349.725081; finalDepth = 350.794670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.331432 # Actual altitude: 53.331432 # Commanded vehicle depth: 350.79467 # Seafloor depth: -404.126102 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # 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 52.114520 meters # Minimum depth: 399.725081 meters looking forward 50.000000 meters along route # Maximum depth: 400.613518 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.725081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787205; longitude = -121.896276; duration = 208; # abortOnTimeout = True; initialDepth = 322.572639; finalDepth = 349.725081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.331432 # Actual altitude: 53.331432 # Commanded vehicle depth: 349.725081 # Seafloor depth: -400.613518 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 53.769546 meters # Minimum depth: 397.572639 meters looking forward 50.000000 meters along route # Maximum depth: 399.038663 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 322.572639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787509; longitude = -121.895831; duration = 215; initialDepth = 319.076760; finalDepth = 322.572639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.466024 # Actual altitude: 76.466024 # Commanded vehicle depth: 322.572639 # Seafloor depth: -399.038663 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 60.154757 meters # Minimum depth: 394.076760 meters looking forward 50.000000 meters along route # Maximum depth: 397.843478 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.076760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787824; longitude = -121.895372; duration = 240; initialDepth = 313.456522; finalDepth = 319.076760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 78.766718 # Actual altitude: 78.766718 # Commanded vehicle depth: 319.07676 # Seafloor depth: -397.843478 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.51; 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 60.102162 meters # Minimum depth: 388.456522 meters looking forward 50.000000 meters along route # Maximum depth: 393.761688 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 313.456522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788175; longitude = -121.894859; duration = 240; # abortOnTimeout = True; initialDepth = 309.417069; finalDepth = 313.456522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.305166 # Actual altitude: 80.305166 # Commanded vehicle depth: 313.456522 # Seafloor depth: -393.761688 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 53.673516 meters # Minimum depth: 384.417069 meters looking forward 50.000000 meters along route # Maximum depth: 388.294687 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.417069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.894367; duration = 214; initialDepth = 309.321383; finalDepth = 309.417069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.305166 # Actual altitude: 80.305166 # Commanded vehicle depth: 309.417069 # Seafloor depth: -388.294687 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 32.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 54.688780 meters # Minimum depth: 384.321383 meters looking forward 50.000000 meters along route # Maximum depth: 385.752473 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.321383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788875; longitude = -121.893927; duration = 218; initialDepth = 309.721351; finalDepth = 309.321383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.877618 # Actual altitude: 78.877618 # Commanded vehicle depth: 309.321383 # Seafloor depth: -384.872055 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 31.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 50.107396 meters # Minimum depth: 384.721351 meters looking forward 50.000000 meters along route # Maximum depth: 386.287905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.721351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789211; longitude = -121.893479; duration = 200; initialDepth = 309.894399; finalDepth = 309.721351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 5 # Commanded altitude: 75.550672 # Actual altitude: 75.550672 # Commanded vehicle depth: 309.721351 # Seafloor depth: -385.194572 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.22; 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 71.320889 meters # Minimum depth: 384.894399 meters looking forward 50.000000 meters along route # Maximum depth: 385.627121 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 75.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.894399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789519; longitude = -121.893068; duration = 285; # abortOnTimeout = True; initialDepth = 329.004773; finalDepth = 309.894399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.732722 # Actual altitude: 75.732722 # Commanded vehicle depth: 309.894399 # Seafloor depth: -385.627121 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 53.473019 meters # Minimum depth: 384.259621 meters looking forward 50.000000 meters along route # Maximum depth: 385.361552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.004773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789946; longitude = -121.892470; duration = 213; initialDepth = 334.141511; finalDepth = 329.004773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.732722 # Actual altitude: 75.732722 # Commanded vehicle depth: 329.004773269646 # Seafloor depth: -385.290926 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 30.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 62.189743 meters # Minimum depth: 384.141511 meters looking forward 50.000000 meters along route # Maximum depth: 385.203953 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.141511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790266; longitude = -121.892022; duration = 248; initialDepth = 334.036447; finalDepth = 334.141511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.286152730354 # Actual altitude: 56.286152730354 # Commanded vehicle depth: 334.141511 # Seafloor depth: -385.203953 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.51; 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 72.071510 meters # Minimum depth: 384.036447 meters looking forward 50.000000 meters along route # Maximum depth: 384.426007 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.036447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790638; longitude = -121.891501; duration = 288; # abortOnTimeout = True; initialDepth = 334.059815; finalDepth = 334.036447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.062442 # Actual altitude: 51.062442 # Commanded vehicle depth: 334.036447 # Seafloor depth: -384.357681 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 53.905835 meters # Minimum depth: 384.059815 meters looking forward 50.000000 meters along route # Maximum depth: 384.504821 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.059815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791074; longitude = -121.890902; duration = 215; initialDepth = 332.349306; finalDepth = 334.059815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.445006 # Actual altitude: 50.445006 # Commanded vehicle depth: 334.059815 # Seafloor depth: -384.504821 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 53.905716 meters # Minimum depth: 382.349306 meters looking forward 50.000000 meters along route # Maximum depth: 384.190337 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.349306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791400; longitude = -121.890454; duration = 215; initialDepth = 331.239658; finalDepth = 332.349306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.841031 # Actual altitude: 51.841031 # Commanded vehicle depth: 332.349306 # Seafloor depth: -384.190337 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 55.254848 meters # Minimum depth: 381.239658 meters looking forward 50.000000 meters along route # Maximum depth: 382.526892 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.239658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791725; longitude = -121.890006; duration = 221; initialDepth = 328.361425; finalDepth = 331.239658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.841031 # Actual altitude: 51.841031 # Commanded vehicle depth: 331.239658 # Seafloor depth: -382.325201 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 61.139934 meters # Minimum depth: 378.361425 meters looking forward 50.000000 meters along route # Maximum depth: 381.353626 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.361425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792059; longitude = -121.889546; duration = 244; initialDepth = 328.325253; finalDepth = 328.361425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.992201 # Actual altitude: 52.992201 # Commanded vehicle depth: 328.361425 # Seafloor depth: -381.353626 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.20; 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 48.718584 meters # Minimum depth: 378.325253 meters looking forward 50.000000 meters along route # Maximum depth: 381.236213 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.325253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792429; longitude = -121.889038; duration = 194; # abortOnTimeout = True; initialDepth = 330.791820; finalDepth = 328.325253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.992201 # Actual altitude: 52.992201 # Commanded vehicle depth: 328.325253 # Seafloor depth: -380.114159 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 53.581977 meters # Minimum depth: 380.791820 meters looking forward 50.000000 meters along route # Maximum depth: 381.740889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 330.791820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792137; longitude = -121.889445; duration = 214; initialDepth = 332.304488; finalDepth = 330.791820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.788906 # Actual altitude: 51.788906 # Commanded vehicle depth: 330.79182 # Seafloor depth: -380.791820 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.582095 meters # Minimum depth: 382.304488 meters looking forward 50.000000 meters along route # Maximum depth: 382.702736 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.304488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791815; longitude = -121.889894; duration = 214; initialDepth = 332.974470; finalDepth = 332.304488; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.304488 # Seafloor depth: -382.304488 # 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 2 # Segment length 55.921203 meters # Minimum depth: 382.974470 meters looking forward 50.000000 meters along route # Maximum depth: 384.353196 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.974470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791494; longitude = -121.890342; duration = 223; initialDepth = 334.180826; finalDepth = 332.974470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.97447 # Seafloor depth: -382.974470 # 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 2 # Segment length 51.243342 meters # Minimum depth: 384.180826 meters looking forward 50.000000 meters along route # Maximum depth: 384.609072 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.180826 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.890809; duration = 204; initialDepth = 334.193386; finalDepth = 334.180826; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190121 # Actual altitude: 50.190121 # Commanded vehicle depth: 334.180826 # Seafloor depth: -384.370947 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.901248 meters # Minimum depth: 384.193386 meters looking forward 50.000000 meters along route # Maximum depth: 384.475549 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.193386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790851; longitude = -121.891238; duration = 215; initialDepth = 334.197506; finalDepth = 334.193386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.190121 # Actual altitude: 50.190121 # Commanded vehicle depth: 334.193386 # Seafloor depth: -384.193386 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.263770 meters # Minimum depth: 384.197506 meters looking forward 50.000000 meters along route # Maximum depth: 385.233031 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.197506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.891689; duration = 213; initialDepth = 334.527917; finalDepth = 334.197506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.282982 # Actual altitude: 50.282982 # Commanded vehicle depth: 334.197506 # Seafloor depth: -384.480488 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.582686 meters # Minimum depth: 384.527917 meters looking forward 50.000000 meters along route # Maximum depth: 385.551927 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.527917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790208; longitude = -121.892134; duration = 214; initialDepth = 334.694513; finalDepth = 334.527917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.282982 # Actual altitude: 50.282982 # Commanded vehicle depth: 334.527917 # Seafloor depth: -384.527917 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 53.582804 meters # Minimum depth: 384.694513 meters looking forward 50.000000 meters along route # Maximum depth: 385.949538 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.694513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789886; longitude = -121.892582; duration = 214; initialDepth = 334.773534; finalDepth = 334.694513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 334.694513 # Seafloor depth: -384.694513 # 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 2 # Segment length 53.582923 meters # Minimum depth: 384.773534 meters looking forward 50.000000 meters along route # Maximum depth: 385.954126 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.773534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789565; longitude = -121.893030; duration = 214; initialDepth = 334.141690; finalDepth = 334.773534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.500704 # Actual altitude: 50.500704 # Commanded vehicle depth: 334.773534 # Seafloor depth: -385.274238 # 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 2 # Segment length 56.361710 meters # Minimum depth: 384.141690 meters looking forward 50.000000 meters along route # Maximum depth: 385.950872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.141690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789243; longitude = -121.893479; duration = 225; initialDepth = 334.400231; finalDepth = 334.141690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.859102 # Actual altitude: 50.859102 # Commanded vehicle depth: 334.14169 # Seafloor depth: -385.000792 # 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 2 # Segment length 50.804490 meters # Minimum depth: 384.400231 meters looking forward 50.000000 meters along route # Maximum depth: 387.246415 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.400231 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788905; longitude = -121.893950; duration = 203; initialDepth = 338.032831; finalDepth = 334.400231; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.859102 # Actual altitude: 50.859102 # Commanded vehicle depth: 334.400231 # Seafloor depth: -384.905045 # 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 2 # Segment length 54.341726 meters # Minimum depth: 388.032831 meters looking forward 50.000000 meters along route # Maximum depth: 393.470721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.032831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788600; longitude = -121.894375; duration = 217; initialDepth = 343.546144; finalDepth = 338.032831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.504814 # Actual altitude: 50.504814 # Commanded vehicle depth: 338.032831 # Seafloor depth: -388.032831 # 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 2 # Segment length 52.824946 meters # Minimum depth: 393.546144 meters looking forward 50.000000 meters along route # Maximum depth: 396.121272 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.546144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788274; longitude = -121.894829; duration = 211; initialDepth = 346.170619; finalDepth = 343.546144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 343.546144 # Seafloor depth: -393.546144 # 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 2 # Segment length 53.583514 meters # Minimum depth: 396.170619 meters looking forward 50.000000 meters along route # Maximum depth: 399.140978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.170619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787957; longitude = -121.895271; duration = 214; initialDepth = 348.594166; finalDepth = 346.170619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 346.170619 # Seafloor depth: -396.170619 # 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 2 # Segment length 53.583632 meters # Minimum depth: 398.594166 meters looking forward 50.000000 meters along route # Maximum depth: 400.507267 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.594166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787636; longitude = -121.895719; duration = 214; initialDepth = 350.411281; finalDepth = 348.594166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 348.594166 # Seafloor depth: -398.594166 # 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 2 # Segment length 53.583750 meters # Minimum depth: 400.411281 meters looking forward 50.000000 meters along route # Maximum depth: 402.980687 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.411281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787314; longitude = -121.896167; duration = 214; initialDepth = 352.269216; finalDepth = 350.411281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 350.411281 # Seafloor depth: -400.411281 # 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 2 # Segment length 56.802232 meters # Minimum depth: 402.269216 meters looking forward 50.000000 meters along route # Maximum depth: 406.892463 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 352.269216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786993; longitude = -121.896615; duration = 227; initialDepth = 357.131315; finalDepth = 352.269216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 352.269216 # Seafloor depth: -402.269216 # 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 2 # Segment length 50.365624 meters # Minimum depth: 407.131315 meters looking forward 50.000000 meters along route # Maximum depth: 408.887172 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.131315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786652; longitude = -121.897091; duration = 201; initialDepth = 359.068030; finalDepth = 357.131315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 357.131315 # Seafloor depth: -407.131315 # 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 2 # Segment length 54.782218 meters # Minimum depth: 409.068030 meters looking forward 50.000000 meters along route # Maximum depth: 412.477682 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.068030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786350; longitude = -121.897512; duration = 219; initialDepth = 362.585349; finalDepth = 359.068030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 359.06803 # Seafloor depth: -409.068030 # 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 2 # Segment length 52.386110 meters # Minimum depth: 412.585349 meters looking forward 50.000000 meters along route # Maximum depth: 414.726199 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.585349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786021; longitude = -121.897970; duration = 209; initialDepth = 363.915466; finalDepth = 362.585349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 362.585349 # Seafloor depth: -412.585349 # 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 2 # Segment length 53.584341 meters # Minimum depth: 413.915466 meters looking forward 50.000000 meters along route # Maximum depth: 419.127867 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.915466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785707; longitude = -121.898408; duration = 214; initialDepth = 368.536605; finalDepth = 363.915466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.067511 # Actual altitude: 50.067511 # Commanded vehicle depth: 363.915466 # Seafloor depth: -413.982977 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 57.384005 meters # Minimum depth: 418.536605 meters looking forward 50.000000 meters along route # Maximum depth: 419.842716 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 368.536605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785385; longitude = -121.898856; duration = 229; initialDepth = 361.188402; finalDepth = 368.536605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.189624 # Actual altitude: 50.189624 # Commanded vehicle depth: 368.536605 # Seafloor depth: -418.726229 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.08; 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 76.694612 meters # Minimum depth: 411.188402 meters looking forward 50.000000 meters along route # Maximum depth: 419.606026 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.188402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785041; longitude = -121.899336; duration = 306; # abortOnTimeout = True; initialDepth = 357.901428; finalDepth = 361.188402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.417624 # Actual altitude: 58.417624 # Commanded vehicle depth: 361.188402 # Seafloor depth: -419.606026 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.677260 meters # Minimum depth: 407.901428 meters looking forward 50.000000 meters along route # Maximum depth: 409.230471 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.901428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784824; longitude = -121.898520; duration = 218; initialDepth = 357.069206; finalDepth = 357.901428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.417624 # Actual altitude: 58.417624 # Commanded vehicle depth: 357.901428 # Seafloor depth: -409.230471 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.620317 meters # Minimum depth: 407.069206 meters looking forward 50.000000 meters along route # Maximum depth: 408.650958 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.069206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784669; longitude = -121.897938; duration = 202; initialDepth = 357.360833; finalDepth = 357.069206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.329043 # Actual altitude: 51.329043 # Commanded vehicle depth: 357.069206 # Seafloor depth: -407.797938 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.648935 meters # Minimum depth: 407.360833 meters looking forward 50.000000 meters along route # Maximum depth: 408.051436 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.360833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784526; longitude = -121.897400; duration = 210; initialDepth = 358.608837; finalDepth = 357.360833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.728732 # Actual altitude: 50.728732 # Commanded vehicle depth: 357.360833 # Seafloor depth: -407.878040 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649034 meters # Minimum depth: 408.608837 meters looking forward 50.000000 meters along route # Maximum depth: 409.795414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.608837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784377; longitude = -121.896840; duration = 210; initialDepth = 356.266851; finalDepth = 358.608837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.517207 # Actual altitude: 50.517207 # Commanded vehicle depth: 358.608837 # Seafloor depth: -408.636260 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649132 meters # Minimum depth: 406.266851 meters looking forward 50.000000 meters along route # Maximum depth: 409.726899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.266851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784228; longitude = -121.896279; duration = 210; initialDepth = 350.190334; finalDepth = 356.266851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.085475 # Actual altitude: 53.085475 # Commanded vehicle depth: 356.266851 # Seafloor depth: -409.352326 # 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 1 # Segment length 52.649230 meters # Minimum depth: 400.190334 meters looking forward 50.000000 meters along route # Maximum depth: 405.790860 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.190334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784079; longitude = -121.895719; duration = 210; initialDepth = 339.033872; finalDepth = 350.190334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.600526 # Actual altitude: 55.600526 # Commanded vehicle depth: 350.190334 # Seafloor depth: -405.790860 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649328 meters # Minimum depth: 389.033872 meters looking forward 50.000000 meters along route # Maximum depth: 400.239556 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.033872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783930; longitude = -121.895159; duration = 210; initialDepth = 329.970003; finalDepth = 339.033872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.205684 # Actual altitude: 61.205684 # Commanded vehicle depth: 339.033872 # Seafloor depth: -400.239556 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649426 meters # Minimum depth: 379.970003 meters looking forward 50.000000 meters along route # Maximum depth: 392.264326 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.970003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783781; longitude = -121.894599; duration = 210; initialDepth = 320.790959; finalDepth = 329.970003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.294323 # Actual altitude: 62.294323 # Commanded vehicle depth: 329.970003 # Seafloor depth: -392.264326 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649524 meters # Minimum depth: 370.790959 meters looking forward 50.000000 meters along route # Maximum depth: 379.945609 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.790959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783632; longitude = -121.894039; duration = 210; initialDepth = 314.637877; finalDepth = 320.790959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.294323 # Actual altitude: 62.294323 # Commanded vehicle depth: 320.790959 # Seafloor depth: -379.945609 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649623 meters # Minimum depth: 364.637877 meters looking forward 50.000000 meters along route # Maximum depth: 369.855971 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 314.637877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783483; longitude = -121.893479; duration = 210; initialDepth = 305.896643; finalDepth = 314.637877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.15465 # Actual altitude: 59.15465 # Commanded vehicle depth: 314.637877 # Seafloor depth: -369.855971 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649721 meters # Minimum depth: 355.896643 meters looking forward 50.000000 meters along route # Maximum depth: 361.628998 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.896643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783334; longitude = -121.892918; duration = 210; initialDepth = 293.726549; finalDepth = 305.896643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.732355 # Actual altitude: 55.732355 # Commanded vehicle depth: 305.896643 # Seafloor depth: -361.628998 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649819 meters # Minimum depth: 343.726549 meters looking forward 50.000000 meters along route # Maximum depth: 352.084952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.726549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783185; longitude = -121.892358; duration = 210; initialDepth = 285.070243; finalDepth = 293.726549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.358403 # Actual altitude: 58.358403 # Commanded vehicle depth: 293.726549 # Seafloor depth: -352.084952 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.649917 meters # Minimum depth: 335.070243 meters looking forward 50.000000 meters along route # Maximum depth: 343.566276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.070243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783036; longitude = -121.891798; duration = 210; initialDepth = 271.058242; finalDepth = 285.070243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.496033 # Actual altitude: 58.496033 # Commanded vehicle depth: 285.070243 # Seafloor depth: -343.566276 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 23.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650015 meters # Minimum depth: 321.058242 meters looking forward 50.000000 meters along route # Maximum depth: 332.349961 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.058242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782887; longitude = -121.891238; duration = 210; initialDepth = 246.012900; finalDepth = 271.058242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.291719 # Actual altitude: 61.291719 # Commanded vehicle depth: 271.058242 # Seafloor depth: -332.349961 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650114 meters # Minimum depth: 296.012900 meters looking forward 50.000000 meters along route # Maximum depth: 316.590092 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.012900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782738; longitude = -121.890678; duration = 210; initialDepth = 228.101080; finalDepth = 246.012900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.577192 # Actual altitude: 70.577192 # Commanded vehicle depth: 246.0129 # Seafloor depth: -316.590092 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650211 meters # Minimum depth: 278.101080 meters looking forward 50.000000 meters along route # Maximum depth: 295.052679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 228.101080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782589; longitude = -121.890118; duration = 210; initialDepth = 207.516040; finalDepth = 228.101080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.577192 # Actual altitude: 70.577192 # Commanded vehicle depth: 228.10108 # Seafloor depth: -295.052679 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 28.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650310 meters # Minimum depth: 257.516040 meters looking forward 50.000000 meters along route # Maximum depth: 274.919202 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.516040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782440; longitude = -121.889557; duration = 210; initialDepth = 187.086002; finalDepth = 207.516040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.403162 # Actual altitude: 67.403162 # Commanded vehicle depth: 207.51604 # Seafloor depth: -274.919202 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650408 meters # Minimum depth: 237.086002 meters looking forward 50.000000 meters along route # Maximum depth: 251.735886 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.086002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782291; longitude = -121.888997; duration = 210; initialDepth = 175.768860; finalDepth = 187.086002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.403162 # Actual altitude: 67.403162 # Commanded vehicle depth: 187.086002 # Seafloor depth: -251.735886 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650507 meters # Minimum depth: 225.768860 meters looking forward 50.000000 meters along route # Maximum depth: 236.484029 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.768860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782142; longitude = -121.888437; duration = 210; initialDepth = 163.344728; finalDepth = 175.768860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.649884 # Actual altitude: 64.649884 # Commanded vehicle depth: 175.76886 # Seafloor depth: -236.484029 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650604 meters # Minimum depth: 213.344728 meters looking forward 50.000000 meters along route # Maximum depth: 222.462677 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.344728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781993; longitude = -121.887877; duration = 210; initialDepth = 144.781371; finalDepth = 163.344728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.715169 # Actual altitude: 60.715169 # Commanded vehicle depth: 163.344728 # Seafloor depth: -222.462677 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.661642 meters # Minimum depth: 194.781371 meters looking forward 50.000000 meters along route # Maximum depth: 209.786063 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.781371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781844; longitude = -121.887317; duration = 210; initialDepth = 131.688125; finalDepth = 144.781371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.004692 # Actual altitude: 65.004692 # Commanded vehicle depth: 144.781371 # Seafloor depth: -209.786063 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.639862 meters # Minimum depth: 181.688125 meters looking forward 50.000000 meters along route # Maximum depth: 194.776425 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.688125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781695; longitude = -121.886757; duration = 210; initialDepth = 116.593086; finalDepth = 131.688125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.004692 # Actual altitude: 65.004692 # Commanded vehicle depth: 131.688125 # Seafloor depth: -194.776425 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.650899 meters # Minimum depth: 166.593086 meters looking forward 50.000000 meters along route # Maximum depth: 178.584035 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.593086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781546; longitude = -121.886197; duration = 210; initialDepth = 102.814286; finalDepth = 116.593086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0883 # Actual altitude: 63.0883 # Commanded vehicle depth: 116.593086 # Seafloor depth: -178.584035 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 25.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 53.951716 meters # Minimum depth: 152.814286 meters looking forward 50.000000 meters along route # Maximum depth: 164.381604 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.814286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781397; longitude = -121.885636; duration = 215; initialDepth = 95.610560; finalDepth = 102.814286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.990949 # Actual altitude: 61.990949 # Commanded vehicle depth: 102.814286 # Seafloor depth: -164.381604 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 51.350377 meters # Minimum depth: 145.610560 meters looking forward 50.000000 meters along route # Maximum depth: 152.601624 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.610560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781245; longitude = -121.885062; duration = 205; initialDepth = 88.629482; finalDepth = 95.610560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.567318 # Actual altitude: 61.567318 # Commanded vehicle depth: 95.61056 # Seafloor depth: -152.601624 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 24.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651194 meters # Minimum depth: 138.629482 meters looking forward 50.000000 meters along route # Maximum depth: 143.942630 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.629482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781099; longitude = -121.884516; duration = 210; initialDepth = 82.472010; finalDepth = 88.629482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.991064 # Actual altitude: 56.991064 # Commanded vehicle depth: 88.629482 # Seafloor depth: -143.942630 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 55.241804 meters # Minimum depth: 132.472010 meters looking forward 50.000000 meters along route # Maximum depth: 137.658543 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.472010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780950; longitude = -121.883956; duration = 220; initialDepth = 79.119990; finalDepth = 82.472010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.313148 # Actual altitude: 55.313148 # Commanded vehicle depth: 82.47201 # Seafloor depth: -137.658543 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 50.060878 meters # Minimum depth: 129.119990 meters looking forward 50.000000 meters along route # Maximum depth: 132.064492 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.119990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780794; longitude = -121.883368; duration = 200; initialDepth = 76.306304; finalDepth = 79.119990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.186533 # Actual altitude: 55.186533 # Commanded vehicle depth: 79.11999 # Seafloor depth: -132.064492 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651488 meters # Minimum depth: 126.306304 meters looking forward 50.000000 meters along route # Maximum depth: 128.610069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.306304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780652; longitude = -121.882836; duration = 210; initialDepth = 73.990102; finalDepth = 76.306304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.944502 # Actual altitude: 52.944502 # Commanded vehicle depth: 76.306304 # Seafloor depth: -128.610069 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651587 meters # Minimum depth: 123.990102 meters looking forward 50.000000 meters along route # Maximum depth: 125.886191 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.990102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780503; longitude = -121.882275; duration = 210; initialDepth = 71.421152; finalDepth = 73.990102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.303765 # Actual altitude: 52.303765 # Commanded vehicle depth: 73.990102 # Seafloor depth: -125.886191 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651685 meters # Minimum depth: 121.421152 meters looking forward 50.000000 meters along route # Maximum depth: 123.678855 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.421152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780354; longitude = -121.881715; duration = 210; initialDepth = 69.274454; finalDepth = 71.421152; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.257703 # Actual altitude: 52.257703 # Commanded vehicle depth: 71.421152 # Seafloor depth: -123.678855 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651783 meters # Minimum depth: 119.274454 meters looking forward 50.000000 meters along route # Maximum depth: 120.586700 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.274454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780205; longitude = -121.881155; duration = 210; initialDepth = 66.473451; finalDepth = 69.274454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.257703 # Actual altitude: 52.257703 # Commanded vehicle depth: 69.274454 # Seafloor depth: -120.586700 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651881 meters # Minimum depth: 116.473451 meters looking forward 50.000000 meters along route # Maximum depth: 118.644279 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.473451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780056; longitude = -121.880595; duration = 210; initialDepth = 64.013794; finalDepth = 66.473451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.170828 # Actual altitude: 52.170828 # Commanded vehicle depth: 66.473451 # Seafloor depth: -118.644279 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.651980 meters # Minimum depth: 114.013794 meters looking forward 50.000000 meters along route # Maximum depth: 116.069506 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.013794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779907; longitude = -121.880035; duration = 210; initialDepth = 62.902014; finalDepth = 64.013794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.170828 # Actual altitude: 52.170828 # Commanded vehicle depth: 64.013794 # Seafloor depth: -116.069506 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 52.652078 meters # Minimum depth: 112.902014 meters looking forward 50.000000 meters along route # Maximum depth: 114.706075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.902014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779758; longitude = -121.879475; duration = 210; initialDepth = 60.499413; finalDepth = 62.902014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.055712 # Actual altitude: 52.055712 # Commanded vehicle depth: 62.902014 # Seafloor depth: -114.274500 # 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 1 # Segment length 58.417290 meters # Minimum depth: 110.499413 meters looking forward 50.000000 meters along route # Maximum depth: 112.513262 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.499413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779609; longitude = -121.878914; duration = 233; initialDepth = 60.499413; finalDepth = 60.499413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.013849 # Actual altitude: 52.013849 # Commanded vehicle depth: 60.499413 # Seafloor depth: -112.513262 # behavior reson { duration = 6; MB_Range = 200.00; MB_Sound_Velocity = 0.0; MB_Bottom_Detect_Filter_Min_Range = 20.81; 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: 52.013849 # Sonar parameter altitude: 52.013849 # Commanded vehicle depth: 60.499413 # Seafloor depth: -110.639101 # 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 = 20.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 110.499413 meters looking forward 50.000000 meters along route # Maximum depth: 111.803888 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 534.053134 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.499413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.779444; longitude = -121.878293; duration = 2000; depth = 60.499413; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 0.0; pitch = -45.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 0.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior edgetech { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 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; } # ####################################################### ####################################################### ####################################################### #######################################################