# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <DavidsMac> at <Mon Jul 21 07:53:09 PDT 2008>
# 
# Mission Summary:
#     Route File:               20080721_test2.rte
#     Mission File:             20080721_test2.cfg
#     Distance:                 5058.701531 (m)
#     Estimated Time:           5167 (s)  1.435 (hr)
#     Abort Time:               6717 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               10
#     Route Points:             102
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
# 
# Mission Parameters:
#     Vehicle Speed:            1.500000 (m/s) 2.915769 (knots)
#     Desired Vehicle Altitude: 65 (m)
#     Minimum Vehicle Altitude: 75 (m)
#     Abort Vehicle Altitude:   30 (m)
#     Maximum Vehicle Depth:    152.762211 (m)
#     Abort Vehicle Depth:      190.262211 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 100 (m)
#     Waypoint Spacing:         50 (m)
#     GPS Duration:             600 (s)
#     Descend Rate:             0.417 (m/s)
#     Ascend Rate:              1 (m/s)
#     Initial descend Duration: 300 (s)
#     Setpoint Duration:        30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.860181 36.829310 -99.904114 0.000000 1
#   1 -121.855529 36.821299 -140.154948 980.826518 1
#   2 -121.853288 36.815472 -160.588918 1657.425592 1
#   3 -121.853512 36.808526 -192.469930 2428.368432 1
#   4 -121.850560 36.806378 -176.560343 2783.460245 1
#   5 -121.845106 36.807125 -170.668620 3277.078839 1
#   6 -121.841034 36.808283 -163.096080 3662.406813 1
#   7 -121.838792 36.809460 -152.601613 3901.204576 1
#   8 -121.837316 36.812223 -142.644674 4234.887804 1
#   9 -121.835766 36.819543 -103.637156 5058.701531 1
# 
# A total of 102 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 6717;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 152.762211;
abortDepth = 190.262211;
minAltitude = 75.000000;
abortAltitude = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# 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 - 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 reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 51.207359 meters
#   Minimum depth: 103.637156 meters looking forward 100.000000 meters along route
#   Maximum depth: 104.091712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 38.637156 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819543;
longitude = -121.835766;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 38.637156;
finalDepth = 38.637156;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65
#   Actual altitude: 75
#   Commanded vehicle depth:38.637156 
#   Seafloor depth:-103.637156
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 103.637156 meters looking forward 100.000000 meters along route
#   Maximum depth: 105.915324 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 38.637156 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819413;
longitude = -121.835794;
captureRadius = 10;
duration = 51;
initialDepth = 39.397522;
finalDepth = 38.637156;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.576596
#   Actual altitude: 75
#   Commanded vehicle depth:38.637156 
#   Seafloor depth:-104.213752
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 104.397522 meters looking forward 100.000000 meters along route
#   Maximum depth: 107.087670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 39.397522 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818964;
longitude = -121.835888;
captureRadius = 10;
duration = 51;
initialDepth = 41.153361;
finalDepth = 39.397522;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.942427
#   Actual altitude: 75
#   Commanded vehicle depth:39.397522 
#   Seafloor depth:-106.339949
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 106.153361 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.319323 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 41.153361 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818516;
longitude = -121.835983;
captureRadius = 10;
duration = 51;
initialDepth = 42.086450;
finalDepth = 41.153361;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.942427
#   Actual altitude: 75
#   Commanded vehicle depth:41.153361 
#   Seafloor depth:-106.882026
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 107.086450 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.047936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 42.086450 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818068;
longitude = -121.836078;
captureRadius = 10;
duration = 51;
initialDepth = 44.922237;
finalDepth = 42.086450;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.451208
#   Actual altitude: 75
#   Commanded vehicle depth:42.08645 
#   Seafloor depth:-109.537658
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 109.922237 meters looking forward 100.000000 meters along route
#   Maximum depth: 116.192160 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 44.922237 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817620;
longitude = -121.836173;
captureRadius = 10;
duration = 51;
initialDepth = 47.739714;
finalDepth = 44.922237;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.629233
#   Actual altitude: 75
#   Commanded vehicle depth:44.922237 
#   Seafloor depth:-112.551470
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 83;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 112.739714 meters looking forward 100.000000 meters along route
#   Maximum depth: 120.243422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 47.739714 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817172;
longitude = -121.836268;
captureRadius = 10;
duration = 51;
initialDepth = 51.605071;
finalDepth = 47.739714;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.829592
#   Actual altitude: 75
#   Commanded vehicle depth:47.739714 
#   Seafloor depth:-116.569306
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 82;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 116.605071 meters looking forward 100.000000 meters along route
#   Maximum depth: 125.981723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 51.605071 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816724;
longitude = -121.836363;
captureRadius = 10;
duration = 51;
initialDepth = 56.463969;
finalDepth = 51.605071;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.977496
#   Actual altitude: 75
#   Commanded vehicle depth:51.605071 
#   Seafloor depth:-120.582567
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 81;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 121.463969 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.181832 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 56.463969 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816275;
longitude = -121.836458;
captureRadius = 10;
duration = 51;
initialDepth = 59.764327;
finalDepth = 56.463969;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.424632
#   Actual altitude: 75
#   Commanded vehicle depth:56.463969 
#   Seafloor depth:-125.888601
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 80;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 124.764327 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.181832 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 59.764327 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815827;
longitude = -121.836553;
captureRadius = 10;
duration = 51;
initialDepth = 60.296058;
finalDepth = 59.764327;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.424632
#   Actual altitude: 75
#   Commanded vehicle depth:59.764327 
#   Seafloor depth:-125.199494
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 79;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 125.296058 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.977567 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 60.296058 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815379;
longitude = -121.836648;
captureRadius = 10;
duration = 51;
initialDepth = 61.737547;
finalDepth = 60.296058;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.921809
#   Actual altitude: 75
#   Commanded vehicle depth:60.296058 
#   Seafloor depth:-126.217867
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 78;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 126.737547 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.247223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 61.737547 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814931;
longitude = -121.836743;
captureRadius = 10;
duration = 51;
initialDepth = 62.548293;
finalDepth = 61.737547;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.921809
#   Actual altitude: 75
#   Commanded vehicle depth:61.737547 
#   Seafloor depth:-127.086529
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 77;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 127.548293 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.992422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 62.548293 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814483;
longitude = -121.836838;
captureRadius = 10;
duration = 51;
initialDepth = 64.350826;
finalDepth = 62.548293;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.78818
#   Actual altitude: 75
#   Commanded vehicle depth:62.548293 
#   Seafloor depth:-129.336473
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 76;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 129.350826 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.025892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 64.350826 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814035;
longitude = -121.836933;
captureRadius = 10;
duration = 51;
initialDepth = 66.123667;
finalDepth = 64.350826;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.78818
#   Actual altitude: 75
#   Commanded vehicle depth:64.350826 
#   Seafloor depth:-130.591508
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 131.123667 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.262619 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 66.123667 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813586;
longitude = -121.837028;
captureRadius = 10;
duration = 51;
initialDepth = 68.347577;
finalDepth = 66.123667;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.915277
#   Actual altitude: 75
#   Commanded vehicle depth:66.123667 
#   Seafloor depth:-133.038944
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 74;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 133.347577 meters looking forward 100.000000 meters along route
#   Maximum depth: 140.148602 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 68.347577 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813138;
longitude = -121.837123;
captureRadius = 10;
duration = 51;
initialDepth = 70.702971;
finalDepth = 68.347577;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.522323
#   Actual altitude: 75
#   Commanded vehicle depth:68.347577 
#   Seafloor depth:-135.869900
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 73;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 51.207359 meters
#   Minimum depth: 135.702971 meters looking forward 100.000000 meters along route
#   Maximum depth: 142.671086 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 70.702971 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812690;
longitude = -121.837217;
captureRadius = 10;
duration = 51;
initialDepth = 72.331802;
finalDepth = 70.702971;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.780725
#   Actual altitude: 75
#   Commanded vehicle depth:70.702971 
#   Seafloor depth:-140.483696
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 72;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 51.207359 meters
#   Minimum depth: 137.331802 meters looking forward 100.000000 meters along route
#   Maximum depth: 142.902095 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 72.331802 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812223;
longitude = -121.837316;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 75.781428;
finalDepth = 72.331802;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 70.312872
#   Actual altitude: 75
#   Commanded vehicle depth:72.331802 
#   Seafloor depth:-142.644674
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 71;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 140.781428 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.565374 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 75.781428 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812048;
longitude = -121.837410;
captureRadius = 10;
duration = 51;
initialDepth = 77.999721;
finalDepth = 75.781428;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 70.312872
#   Actual altitude: 75
#   Commanded vehicle depth:75.781428 
#   Seafloor depth:-142.864543
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 142.999721 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.914862 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 77.999721 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811626;
longitude = -121.837635;
captureRadius = 10;
duration = 51;
initialDepth = 78.970211;
finalDepth = 77.999721;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.083115
#   Actual altitude: 75
#   Commanded vehicle depth:77.999721 
#   Seafloor depth:-143.576437
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 69;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 143.970211 meters looking forward 100.000000 meters along route
#   Maximum depth: 146.960718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 78.970211 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811209;
longitude = -121.837858;
captureRadius = 10;
duration = 51;
initialDepth = 80.841664;
finalDepth = 78.970211;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.962236
#   Actual altitude: 75
#   Commanded vehicle depth:78.970211 
#   Seafloor depth:-145.932447
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 68;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 145.841664 meters looking forward 100.000000 meters along route
#   Maximum depth: 149.278675 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 80.841664 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810785;
longitude = -121.838084;
captureRadius = 10;
duration = 51;
initialDepth = 82.509746;
finalDepth = 80.841664;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.962236
#   Actual altitude: 75
#   Commanded vehicle depth:80.841664 
#   Seafloor depth:-146.969029
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 67;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 147.509746 meters looking forward 100.000000 meters along route
#   Maximum depth: 150.758893 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 82.509746 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810337;
longitude = -121.838323;
captureRadius = 10;
duration = 51;
initialDepth = 84.237289;
finalDepth = 82.509746;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.893329
#   Actual altitude: 75
#   Commanded vehicle depth:82.509746 
#   Seafloor depth:-149.403075
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 66;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 51.207359 meters
#   Minimum depth: 149.237289 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.367301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 84.237289 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809889;
longitude = -121.838563;
captureRadius = 10;
duration = 51;
initialDepth = 85.339058;
finalDepth = 84.237289;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.994977
#   Actual altitude: 75
#   Commanded vehicle depth:84.237289 
#   Seafloor depth:-151.232266
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 51.207359 meters
#   Minimum depth: 150.339058 meters looking forward 100.000000 meters along route
#   Maximum depth: 154.326224 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 85.339058 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809460;
longitude = -121.838792;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 87.093061;
finalDepth = 85.339058;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.262555
#   Actual altitude: 75
#   Commanded vehicle depth:85.339058 
#   Seafloor depth:-152.601613
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 64;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 51.207359 meters
#   Minimum depth: 152.093061 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.790717 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 87.093061 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809329;
longitude = -121.839041;
captureRadius = 10;
duration = 51;
initialDepth = 89.950991;
finalDepth = 87.093061;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.264342
#   Actual altitude: 75
#   Commanded vehicle depth:87.093061 
#   Seafloor depth:-154.357403
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 63;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 51.207359 meters
#   Minimum depth: 154.950991 meters looking forward 100.000000 meters along route
#   Maximum depth: 159.228412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 89.950991 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809067;
longitude = -121.839539;
captureRadius = 10;
duration = 51;
initialDepth = 92.928372;
finalDepth = 89.950991;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.113325
#   Actual altitude: 75
#   Commanded vehicle depth:89.950991 
#   Seafloor depth:-158.064316
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 62;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 51.207359 meters
#   Minimum depth: 157.928372 meters looking forward 100.000000 meters along route
#   Maximum depth: 160.767994 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 92.928372 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808803;
longitude = -121.840044;
captureRadius = 10;
duration = 51;
initialDepth = 94.076871;
finalDepth = 92.928372;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.113325
#   Actual altitude: 75
#   Commanded vehicle depth:92.928372 
#   Seafloor depth:-159.237226
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 61;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 51.207359 meters
#   Minimum depth: 159.076871 meters looking forward 100.000000 meters along route
#   Maximum depth: 162.797462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 94.076871 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808538;
longitude = -121.840548;
captureRadius = 10;
duration = 51;
initialDepth = 94.494313;
finalDepth = 94.076871;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.308854
#   Actual altitude: 75
#   Commanded vehicle depth:94.076871 
#   Seafloor depth:-160.345747
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 51.207359 meters
#   Minimum depth: 159.494313 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.882172 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 94.494313 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808283;
longitude = -121.841034;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 96.034765;
finalDepth = 94.494313;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.601767
#   Actual altitude: 75
#   Commanded vehicle depth:94.494313 
#   Seafloor depth:-163.096080
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 161.034765 meters looking forward 100.000000 meters along route
#   Maximum depth: 166.383395 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 96.034765 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808230;
longitude = -121.841220;
captureRadius = 10;
duration = 51;
initialDepth = 99.196658;
finalDepth = 96.034765;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.601767
#   Actual altitude: 75
#   Commanded vehicle depth:96.034765 
#   Seafloor depth:-163.887552
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 164.196658 meters looking forward 100.000000 meters along route
#   Maximum depth: 170.027799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 99.196658 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808071;
longitude = -121.841781;
captureRadius = 10;
duration = 51;
initialDepth = 102.256652;
finalDepth = 99.196658;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.852787
#   Actual altitude: 75
#   Commanded vehicle depth:99.196658 
#   Seafloor depth:-166.682103
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 167.256652 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.793988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 102.256652 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807911;
longitude = -121.842341;
captureRadius = 10;
duration = 51;
initialDepth = 104.510366;
finalDepth = 102.256652;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.638695
#   Actual altitude: 75
#   Commanded vehicle depth:102.256652 
#   Seafloor depth:-169.895347
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 169.510366 meters looking forward 100.000000 meters along route
#   Maximum depth: 174.441539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 104.510366 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807760;
longitude = -121.842873;
captureRadius = 10;
duration = 51;
initialDepth = 105.417517;
finalDepth = 104.510366;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.694823
#   Actual altitude: 75
#   Commanded vehicle depth:104.510366 
#   Seafloor depth:-172.205189
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 170.417517 meters looking forward 100.000000 meters along route
#   Maximum depth: 174.441539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 105.417517 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807609;
longitude = -121.843406;
captureRadius = 10;
duration = 51;
initialDepth = 104.500645;
finalDepth = 105.417517;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.451347
#   Actual altitude: 75
#   Commanded vehicle depth:105.417517 
#   Seafloor depth:-173.868864
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 169.500645 meters looking forward 100.000000 meters along route
#   Maximum depth: 173.089794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 104.500645 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807449;
longitude = -121.843966;
captureRadius = 10;
duration = 51;
initialDepth = 104.500645;
finalDepth = 104.500645;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.451347
#   Actual altitude: 75
#   Commanded vehicle depth:104.500645 
#   Seafloor depth:-170.170500
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 51.207359 meters
#   Minimum depth: 169.500645 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.543245 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 104.500645 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807290;
longitude = -121.844527;
captureRadius = 10;
duration = 51;
initialDepth = 103.274897;
finalDepth = 104.500645;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.185252
#   Actual altitude: 75
#   Commanded vehicle depth:104.500645 
#   Seafloor depth:-170.685897
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 51.207359 meters
#   Minimum depth: 168.274897 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.543245 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 103.274897 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807125;
longitude = -121.845106;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 101.967634;
finalDepth = 103.274897;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.393723
#   Actual altitude: 75
#   Commanded vehicle depth:103.274897 
#   Seafloor depth:-170.668620
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 166.967634 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.543245 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 101.967634 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807074;
longitude = -121.845479;
captureRadius = 10;
duration = 51;
initialDepth = 101.967634;
finalDepth = 101.967634;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.393723
#   Actual altitude: 75
#   Commanded vehicle depth:101.967634 
#   Seafloor depth:-168.587216
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 166.967634 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.914713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 101.967634 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806997;
longitude = -121.846040;
captureRadius = 10;
duration = 51;
initialDepth = 100.144513;
finalDepth = 101.967634;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.619582
#   Actual altitude: 75
#   Commanded vehicle depth:101.967634 
#   Seafloor depth:-167.187242
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 165.144513 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.101677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 100.144513 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806920;
longitude = -121.846606;
captureRadius = 10;
duration = 51;
initialDepth = 100.009253;
finalDepth = 100.144513;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.140449
#   Actual altitude: 75
#   Commanded vehicle depth:100.144513 
#   Seafloor depth:-167.284962
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 165.009253 meters looking forward 100.000000 meters along route
#   Maximum depth: 167.619898 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 100.009253 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806844;
longitude = -121.847161;
captureRadius = 10;
duration = 51;
initialDepth = 100.009253;
finalDepth = 100.009253;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.140449
#   Actual altitude: 75
#   Commanded vehicle depth:100.009253 
#   Seafloor depth:-165.546670
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 65;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 165.009253 meters looking forward 100.000000 meters along route
#   Maximum depth: 167.944000 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 100.009253 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806767;
longitude = -121.847721;
captureRadius = 10;
duration = 51;
initialDepth = 102.097445;
finalDepth = 100.009253;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.981887
#   Actual altitude: 75
#   Commanded vehicle depth:100.009253 
#   Seafloor depth:-166.991140
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 167.097445 meters looking forward 100.000000 meters along route
#   Maximum depth: 169.054065 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 102.097445 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806690;
longitude = -121.848281;
captureRadius = 10;
duration = 51;
initialDepth = 102.821580;
finalDepth = 102.097445;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.981887
#   Actual altitude: 75
#   Commanded vehicle depth:102.097445 
#   Seafloor depth:-168.134435
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 167.821580 meters looking forward 100.000000 meters along route
#   Maximum depth: 169.710553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 102.821580 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806614;
longitude = -121.848842;
captureRadius = 10;
duration = 51;
initialDepth = 102.821580;
finalDepth = 102.821580;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.03699
#   Actual altitude: 75
#   Commanded vehicle depth:102.82158 
#   Seafloor depth:-167.868252
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 167.821580 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.601068 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 102.821580 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806537;
longitude = -121.849402;
captureRadius = 10;
duration = 51;
initialDepth = 104.430898;
finalDepth = 102.821580;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.462021
#   Actual altitude: 75
#   Commanded vehicle depth:102.82158 
#   Seafloor depth:-169.283601
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 51.207359 meters
#   Minimum depth: 169.430898 meters looking forward 100.000000 meters along route
#   Maximum depth: 175.746072 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 104.430898 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806460;
longitude = -121.849963;
captureRadius = 10;
duration = 51;
initialDepth = 107.045266;
finalDepth = 104.430898;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.614368
#   Actual altitude: 75
#   Commanded vehicle depth:104.430898 
#   Seafloor depth:-172.045266
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 51.207359 meters
#   Minimum depth: 172.045266 meters looking forward 100.000000 meters along route
#   Maximum depth: 177.315859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 107.045266 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806378;
longitude = -121.850560;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 111.187594;
finalDepth = 107.045266;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.515077
#   Actual altitude: 75
#   Commanded vehicle depth:107.045266 
#   Seafloor depth:-176.560343
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 70;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 176.187594 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.051154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 111.187594 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806640;
longitude = -121.850920;
captureRadius = 10;
duration = 51;
initialDepth = 111.783091;
finalDepth = 111.187594;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.515077
#   Actual altitude: 75
#   Commanded vehicle depth:111.187594 
#   Seafloor depth:-176.831102
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 176.783091 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.600939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 111.783091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.806976;
longitude = -121.851382;
captureRadius = 10;
duration = 51;
initialDepth = 114.039492;
finalDepth = 111.783091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.264737
#   Actual altitude: 75
#   Commanded vehicle depth:111.783091 
#   Seafloor depth:-179.047828
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 179.039492 meters looking forward 100.000000 meters along route
#   Maximum depth: 182.618992 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 114.039492 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807289;
longitude = -121.851812;
captureRadius = 10;
duration = 51;
initialDepth = 115.966429;
finalDepth = 114.039492;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.264737
#   Actual altitude: 75
#   Commanded vehicle depth:114.039492 
#   Seafloor depth:-180.839705
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 180.966429 meters looking forward 100.000000 meters along route
#   Maximum depth: 186.518393 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 115.966429 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807592;
longitude = -121.852229;
captureRadius = 10;
duration = 51;
initialDepth = 117.882693;
finalDepth = 115.966429;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.800213
#   Actual altitude: 75
#   Commanded vehicle depth:115.966429 
#   Seafloor depth:-182.586334
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 182.882693 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.721148 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 117.882693 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.807901;
longitude = -121.852653;
captureRadius = 10;
duration = 51;
initialDepth = 122.452455;
finalDepth = 117.882693;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.952437
#   Actual altitude: 75
#   Commanded vehicle depth:117.882693 
#   Seafloor depth:-186.835130
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 51.207359 meters
#   Minimum depth: 187.452455 meters looking forward 100.000000 meters along route
#   Maximum depth: 193.473918 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 122.452455 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808208;
longitude = -121.853076;
captureRadius = 10;
duration = 51;
initialDepth = 125.262211;
finalDepth = 122.452455;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.243755
#   Actual altitude: 75
#   Commanded vehicle depth:122.452455 
#   Seafloor depth:-191.696210
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 51.207359 meters
#   Minimum depth: 190.262211 meters looking forward 100.000000 meters along route
#   Maximum depth: 193.473918 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 125.262211 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808526;
longitude = -121.853512;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 121.709243;
finalDepth = 125.262211;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.243755
#   Actual altitude: 75
#   Commanded vehicle depth:125.262211 
#   Seafloor depth:-192.469930
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 186.709243 meters looking forward 100.000000 meters along route
#   Maximum depth: 192.410872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 121.709243 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.808937;
longitude = -121.853499;
captureRadius = 10;
duration = 51;
initialDepth = 120.799751;
finalDepth = 121.709243;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.161033
#   Actual altitude: 75
#   Commanded vehicle depth:121.709243 
#   Seafloor depth:-189.870276
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 185.799751 meters looking forward 100.000000 meters along route
#   Maximum depth: 189.490470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 120.799751 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809441;
longitude = -121.853482;
captureRadius = 10;
duration = 51;
initialDepth = 120.799751;
finalDepth = 120.799751;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.161033
#   Actual altitude: 75
#   Commanded vehicle depth:120.799751 
#   Seafloor depth:-186.652862
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 185.799751 meters looking forward 100.000000 meters along route
#   Maximum depth: 187.061096 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 120.799751 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.809945;
longitude = -121.853466;
captureRadius = 10;
duration = 51;
initialDepth = 121.704223;
finalDepth = 120.799751;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.853111
#   Actual altitude: 75
#   Commanded vehicle depth:120.799751 
#   Seafloor depth:-186.393039
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 186.704223 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.649570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 121.704223 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810449;
longitude = -121.853450;
captureRadius = 10;
duration = 51;
initialDepth = 121.858303;
finalDepth = 121.704223;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.593288
#   Actual altitude: 75
#   Commanded vehicle depth:121.704223 
#   Seafloor depth:-186.991202
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 186.858303 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.761681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 121.858303 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.810953;
longitude = -121.853433;
captureRadius = 10;
duration = 51;
initialDepth = 117.915160;
finalDepth = 121.858303;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.860681
#   Actual altitude: 75
#   Commanded vehicle depth:121.858303 
#   Seafloor depth:-188.718984
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 182.915160 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.654009 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 117.915160 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811458;
longitude = -121.853417;
captureRadius = 10;
duration = 51;
initialDepth = 111.095525;
finalDepth = 117.915160;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.280538
#   Actual altitude: 75
#   Commanded vehicle depth:117.91516 
#   Seafloor depth:-187.195698
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 176.095525 meters looking forward 100.000000 meters along route
#   Maximum depth: 186.927170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 111.095525 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.811962;
longitude = -121.853401;
captureRadius = 10;
duration = 51;
initialDepth = 105.681236;
finalDepth = 111.095525;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 71.541546
#   Actual altitude: 75
#   Commanded vehicle depth:111.095525 
#   Seafloor depth:-182.637071
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 170.681236 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.435646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 105.681236 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812466;
longitude = -121.853385;
captureRadius = 10;
duration = 51;
initialDepth = 102.143124;
finalDepth = 105.681236;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 71.541546
#   Actual altitude: 75
#   Commanded vehicle depth:105.681236 
#   Seafloor depth:-175.570042
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 167.143124 meters looking forward 100.000000 meters along route
#   Maximum depth: 173.586105 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 102.143124 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.812970;
longitude = -121.853368;
captureRadius = 10;
duration = 51;
initialDepth = 99.652563;
finalDepth = 102.143124;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.888806
#   Actual altitude: 75
#   Commanded vehicle depth:102.143124 
#   Seafloor depth:-169.990435
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 164.652563 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.794094 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 99.652563 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813474;
longitude = -121.853352;
captureRadius = 10;
duration = 51;
initialDepth = 99.588272;
finalDepth = 99.652563;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.847311
#   Actual altitude: 75
#   Commanded vehicle depth:99.652563 
#   Seafloor depth:-166.659342
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 164.588272 meters looking forward 100.000000 meters along route
#   Maximum depth: 165.861527 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 99.588272 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.813979;
longitude = -121.853336;
captureRadius = 10;
duration = 51;
initialDepth = 97.639008;
finalDepth = 99.588272;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.006779
#   Actual altitude: 75
#   Commanded vehicle depth:99.588272 
#   Seafloor depth:-164.846492
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 162.639008 meters looking forward 100.000000 meters along route
#   Maximum depth: 164.995945 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 97.639008 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814483;
longitude = -121.853320;
captureRadius = 10;
duration = 51;
initialDepth = 95.615706;
finalDepth = 97.639008;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.090072
#   Actual altitude: 75
#   Commanded vehicle depth:97.639008 
#   Seafloor depth:-164.729080
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 51.207359 meters
#   Minimum depth: 160.615706 meters looking forward 100.000000 meters along route
#   Maximum depth: 164.274696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 95.615706 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.814987;
longitude = -121.853303;
captureRadius = 10;
duration = 51;
initialDepth = 95.335428;
finalDepth = 95.615706;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.090072
#   Actual altitude: 75
#   Commanded vehicle depth:95.615706 
#   Seafloor depth:-162.348982
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 51.207359 meters
#   Minimum depth: 160.335428 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.676775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 95.335428 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815472;
longitude = -121.853288;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 92.882966;
finalDepth = 95.335428;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.733276
#   Actual altitude: 75
#   Commanded vehicle depth:95.335428 
#   Seafloor depth:-160.588918
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 157.882966 meters looking forward 100.000000 meters along route
#   Maximum depth: 162.041543 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 92.882966 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.815570;
longitude = -121.853325;
captureRadius = 10;
duration = 51;
initialDepth = 90.605897;
finalDepth = 92.882966;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.246856
#   Actual altitude: 75
#   Commanded vehicle depth:92.882966 
#   Seafloor depth:-160.129822
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 155.605897 meters looking forward 100.000000 meters along route
#   Maximum depth: 159.827941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 90.605897 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816006;
longitude = -121.853493;
captureRadius = 10;
duration = 51;
initialDepth = 89.161857;
finalDepth = 90.605897;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.286208
#   Actual altitude: 75
#   Commanded vehicle depth:90.605897 
#   Seafloor depth:-157.892105
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 154.161857 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.826319 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 89.161857 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816443;
longitude = -121.853661;
captureRadius = 10;
duration = 51;
initialDepth = 87.230964;
finalDepth = 89.161857;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.286208
#   Actual altitude: 75
#   Commanded vehicle depth:89.161857 
#   Seafloor depth:-155.483856
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 152.230964 meters looking forward 100.000000 meters along route
#   Maximum depth: 155.471507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 87.230964 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.816880;
longitude = -121.853829;
captureRadius = 10;
duration = 51;
initialDepth = 86.286136;
finalDepth = 87.230964;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.536764
#   Actual altitude: 75
#   Commanded vehicle depth:87.230964 
#   Seafloor depth:-153.767728
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 151.286136 meters looking forward 100.000000 meters along route
#   Maximum depth: 153.855531 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 86.286136 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817317;
longitude = -121.853998;
captureRadius = 10;
duration = 51;
initialDepth = 84.952989;
finalDepth = 86.286136;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.536764
#   Actual altitude: 75
#   Commanded vehicle depth:86.286136 
#   Seafloor depth:-152.322244
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 149.952989 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.332316 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 84.952989 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.817754;
longitude = -121.854166;
captureRadius = 10;
duration = 51;
initialDepth = 84.415544;
finalDepth = 84.952989;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.425652
#   Actual altitude: 75
#   Commanded vehicle depth:84.952989 
#   Seafloor depth:-151.378641
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 149.415544 meters looking forward 100.000000 meters along route
#   Maximum depth: 151.474114 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 84.415544 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818191;
longitude = -121.854334;
captureRadius = 10;
duration = 51;
initialDepth = 83.254032;
finalDepth = 84.415544;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.425652
#   Actual altitude: 75
#   Commanded vehicle depth:84.415544 
#   Seafloor depth:-149.889792
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 148.254032 meters looking forward 100.000000 meters along route
#   Maximum depth: 149.849020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 83.254032 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.818628;
longitude = -121.854502;
captureRadius = 10;
duration = 51;
initialDepth = 80.395879;
finalDepth = 83.254032;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.318356
#   Actual altitude: 75
#   Commanded vehicle depth:83.254032 
#   Seafloor depth:-149.572388
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 145.395879 meters looking forward 100.000000 meters along route
#   Maximum depth: 149.107011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 80.395879 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819065;
longitude = -121.854670;
captureRadius = 10;
duration = 51;
initialDepth = 79.682463;
finalDepth = 80.395879;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.639457
#   Actual altitude: 75
#   Commanded vehicle depth:80.395879 
#   Seafloor depth:-148.035336
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 144.682463 meters looking forward 100.000000 meters along route
#   Maximum depth: 147.488231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 79.682463 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819502;
longitude = -121.854838;
captureRadius = 10;
duration = 51;
initialDepth = 77.559590;
finalDepth = 79.682463;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.639457
#   Actual altitude: 75
#   Commanded vehicle depth:79.682463 
#   Seafloor depth:-145.201157
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 142.559590 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.344484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 77.559590 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.819939;
longitude = -121.855006;
captureRadius = 10;
duration = 51;
initialDepth = 75.440141;
finalDepth = 77.559590;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.93431
#   Actual altitude: 75
#   Commanded vehicle depth:77.55959 
#   Seafloor depth:-144.493900
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 140.440141 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.288620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 75.440141 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.820376;
longitude = -121.855174;
captureRadius = 10;
duration = 51;
initialDepth = 74.896758;
finalDepth = 75.440141;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.979775
#   Actual altitude: 75
#   Commanded vehicle depth:75.440141 
#   Seafloor depth:-142.419916
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 51.207359 meters
#   Minimum depth: 139.896758 meters looking forward 100.000000 meters along route
#   Maximum depth: 141.663283 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 74.896758 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.820813;
longitude = -121.855342;
captureRadius = 10;
duration = 51;
initialDepth = 74.726511;
finalDepth = 74.896758;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.979775
#   Actual altitude: 75
#   Commanded vehicle depth:74.896758 
#   Seafloor depth:-140.348557
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 51.207359 meters
#   Minimum depth: 139.726511 meters looking forward 100.000000 meters along route
#   Maximum depth: 141.436561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 74.726511 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821299;
longitude = -121.855529;
captureRadius = 10;
duration = 51;
# abortOnTimeout    = True; 
initialDepth = 72.182967;
finalDepth = 74.726511;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.451799
#   Actual altitude: 75
#   Commanded vehicle depth:74.726511 
#   Seafloor depth:-140.154948
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 137.182967 meters looking forward 100.000000 meters along route
#   Maximum depth: 140.180806 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 72.182967 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821485;
longitude = -121.855638;
captureRadius = 10;
duration = 51;
initialDepth = 70.320935;
finalDepth = 72.182967;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.194561
#   Actual altitude: 75
#   Commanded vehicle depth:72.182967 
#   Seafloor depth:-139.377528
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 135.320935 meters looking forward 100.000000 meters along route
#   Maximum depth: 138.825981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 70.320935 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.821942;
longitude = -121.855903;
captureRadius = 10;
duration = 51;
initialDepth = 69.322994;
finalDepth = 70.320935;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.194561
#   Actual altitude: 75
#   Commanded vehicle depth:70.320935 
#   Seafloor depth:-137.069036
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 134.322994 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.244828 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 69.322994 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822382;
longitude = -121.856158;
captureRadius = 10;
duration = 51;
initialDepth = 66.809049;
finalDepth = 69.322994;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.748101
#   Actual altitude: 75
#   Commanded vehicle depth:69.322994 
#   Seafloor depth:-135.174006
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 131.809049 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.447771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 66.809049 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.822811;
longitude = -121.856407;
captureRadius = 10;
duration = 51;
initialDepth = 65.381616;
finalDepth = 66.809049;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.561385
#   Actual altitude: 75
#   Commanded vehicle depth:66.809049 
#   Seafloor depth:-134.370434
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 130.381616 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.832202 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 65.381616 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.823222;
longitude = -121.856646;
captureRadius = 10;
duration = 51;
initialDepth = 64.514726;
finalDepth = 65.381616;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.561385
#   Actual altitude: 75
#   Commanded vehicle depth:65.381616 
#   Seafloor depth:-131.807666
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 129.514726 meters looking forward 100.000000 meters along route
#   Maximum depth: 130.883199 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 64.514726 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.823679;
longitude = -121.856912;
captureRadius = 10;
duration = 51;
initialDepth = 63.641761;
finalDepth = 64.514726;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.42605
#   Actual altitude: 75
#   Commanded vehicle depth:64.514726 
#   Seafloor depth:-130.303655
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 128.641761 meters looking forward 100.000000 meters along route
#   Maximum depth: 130.087620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 63.641761 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824118;
longitude = -121.857166;
captureRadius = 10;
duration = 51;
initialDepth = 61.365894;
finalDepth = 63.641761;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.831739
#   Actual altitude: 75
#   Commanded vehicle depth:63.641761 
#   Seafloor depth:-129.473500
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 126.365894 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.615358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 61.365894 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824548;
longitude = -121.857416;
captureRadius = 10;
duration = 51;
initialDepth = 58.728138;
finalDepth = 61.365894;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.903691
#   Actual altitude: 75
#   Commanded vehicle depth:61.365894 
#   Seafloor depth:-128.269585
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 123.728138 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.385626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 58.728138 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.824959;
longitude = -121.857654;
captureRadius = 10;
duration = 51;
initialDepth = 55.696763;
finalDepth = 58.728138;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.703453
#   Actual altitude: 75
#   Commanded vehicle depth:58.728138 
#   Seafloor depth:-126.431591
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 120.696763 meters looking forward 100.000000 meters along route
#   Maximum depth: 124.873248 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 55.696763 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.825417;
longitude = -121.857920;
captureRadius = 10;
duration = 51;
initialDepth = 53.247069;
finalDepth = 55.696763;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.998473
#   Actual altitude: 75
#   Commanded vehicle depth:55.696763 
#   Seafloor depth:-123.695236
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 118.247069 meters looking forward 100.000000 meters along route
#   Maximum depth: 122.894877 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 53.247069 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.825855;
longitude = -121.858175;
captureRadius = 10;
duration = 51;
initialDepth = 50.691033;
finalDepth = 53.247069;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.998473
#   Actual altitude: 75
#   Commanded vehicle depth:53.247069 
#   Seafloor depth:-121.043400
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 115.691033 meters looking forward 100.000000 meters along route
#   Maximum depth: 120.751348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 50.691033 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.826285;
longitude = -121.858425;
captureRadius = 10;
duration = 51;
initialDepth = 48.546961;
finalDepth = 50.691033;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.902931
#   Actual altitude: 75
#   Commanded vehicle depth:50.691033 
#   Seafloor depth:-118.593964
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 113.546961 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.003880 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 48.546961 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.826695;
longitude = -121.858663;
captureRadius = 10;
duration = 51;
initialDepth = 46.204091;
finalDepth = 48.546961;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.902931
#   Actual altitude: 75
#   Commanded vehicle depth:48.546961 
#   Seafloor depth:-115.708901
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 111.204091 meters looking forward 100.000000 meters along route
#   Maximum depth: 115.479338 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 46.204091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827154;
longitude = -121.858929;
captureRadius = 10;
duration = 51;
initialDepth = 44.606817;
finalDepth = 46.204091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.90121
#   Actual altitude: 75
#   Commanded vehicle depth:46.204091 
#   Seafloor depth:-114.105301
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 109.606817 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.246606 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 44.606817 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.827592;
longitude = -121.859183;
captureRadius = 10;
duration = 51;
initialDepth = 42.161366;
finalDepth = 44.606817;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.90121
#   Actual altitude: 75
#   Commanded vehicle depth:44.606817 
#   Seafloor depth:-111.078730
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 107.161366 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.753572 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 42.161366 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.828023;
longitude = -121.859433;
captureRadius = 10;
duration = 51;
initialDepth = 38.735909;
finalDepth = 42.161366;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.235118
#   Actual altitude: 75
#   Commanded vehicle depth:42.161366 
#   Seafloor depth:-109.396484
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 103.735909 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.392492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 38.735909 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.828432;
longitude = -121.859671;
captureRadius = 10;
duration = 51;
initialDepth = 34.796802;
finalDepth = 38.735909;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.398887
#   Actual altitude: 75
#   Commanded vehicle depth:38.735909 
#   Seafloor depth:-107.134796
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 51.207359 meters
#   Minimum depth: 99.796802 meters looking forward 100.000000 meters along route
#   Maximum depth: 106.751766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 34.796802 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.828891;
longitude = -121.859938;
captureRadius = 10;
duration = 51;
initialDepth = 34.796802;
finalDepth = 34.796802;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.565982
#   Actual altitude: 75
#   Commanded vehicle depth:34.796802 
#   Seafloor depth:-103.362784
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 1;
}
# Set sonar parameters 
#   Commanded altitude: 68.565982
#   Sonar parameter altitude: 75
#   Commanded vehicle depth:34.796802 
#   Seafloor depth:-99.904114
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 450.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 337.50;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 337.5;
MB_Power = 220;
MB_Range = 300.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 300.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
# Acoustic update - sent status ping before start of logging 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 51.207359 meters
#   Minimum depth: 99.796802 meters looking forward 100.000000 meters along route
#   Maximum depth: 106.751766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 152.762211 meters
#   Desired vehicle altitude: 65.000000 meters
#   Minimum vehicle altitude: 75.000000 meters
#   Behavior depth of 34.796802 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.829310;
longitude = -121.860181;
captureRadius = 10;
duration = 600;
initialDepth = 34.796802;
finalDepth = 34.796802;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
#######################################################
# 
# 
# Acoustic update - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -30.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 75.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 45;
heading = 270.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 450.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 260.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 26.00;
MB_Bottom_Detect_Filter_Max_Range = 260.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 195.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 1;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################