# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <haxby> at <Wed Jul 25 11:37:02 PDT 2018>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2335 2018-05-06 23:24:33Z caress r
# 
# Mission Summary:
#     Route File:               Sponge_Extravert_m2v6.rte
#     Mission File:             Sponge_Extravert_m2v6.cfg
#     Distance:                 99958.919580 (m)
#     Estimated Time:           67937 (s)  18.871 (hr)
#     Abort Time:               77885 (s)
#     Max battery life:         79200 (s)
#     Safety margin:            900 (s)
#     Ascend time:              621 (s)
#     Way Points:               43
#     Route Points:             968
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           38 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6.6e-05 usec
#                                 Multibeam minimum range fraction: 0.6
#                                 Multibeam maximum range fraction: 4.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      35 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 25 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      1227.787293 (m)
#     Abort Vehicle Depth:        1252.787293 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   200 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         15 (degrees)
#     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 -122.055999 36.801282 -100.238882 0.000000 3
#   1 -122.067090 36.786592 -527.830536 1906.609866 3
#   2 -122.093866 36.796325 -301.802246 4528.393210 3
#   3 -122.104023 36.781935 -692.358643 6364.110220 3
#   4 -122.086658 36.756520 -1123.246429 9581.490327 3
#   5 -122.065522 36.786772 -457.432404 13431.400889 3
#   6 -122.066493 36.788244 -476.340508 13616.264376 3
#   7 -122.088264 36.757121 -1115.036224 17578.164111 3
#   8 -122.089944 36.757662 -1134.617432 17739.693534 3
#   9 -122.067650 36.789656 -453.288223 21808.686295 3
#   10 -122.068621 36.790948 -470.049416 21976.169960 3
#   11 -122.091604 36.758320 -1197.887817 26136.614528 3
#   12 -122.093067 36.758986 -1243.542877 26286.659201 3
#   13 -122.069555 36.792450 -473.713745 30551.056641 3
#   14 -122.070526 36.793742 -443.947899 30718.538677 3
#   15 -122.094529 36.759652 -1258.043884 35064.943730 3
#   16 -122.095992 36.760318 -1265.411072 35214.986368 3
#   17 -122.071459 36.795244 -432.791756 39665.387658 3
#   18 -122.072356 36.796686 -376.261421 39844.263511 3
#   19 -122.097454 36.760984 -1233.562225 44394.404776 3
#   20 -122.098917 36.761650 -1192.976471 44544.445378 3
#   21 -122.073214 36.798068 -445.202278 49190.296318 3
#   22 -122.074559 36.798879 -412.097534 49340.277540 3
#   23 -122.104583 36.756701 -1194.260406 54732.267029 3
#   24 -122.105517 36.758203 -1131.085938 54918.589404 3
#   25 -122.076127 36.799600 -419.494652 60207.259609 3
#   26 -122.077509 36.800291 -402.690239 60352.444369 3
#   27 -122.106077 36.760186 -1168.166626 65480.254413 3
#   28 -122.106936 36.761387 -1118.902832 65633.977846 3
#   29 -122.078816 36.801132 -429.700165 70707.264433 3
#   30 -122.080086 36.802003 -436.210976 70856.174619 3
#   31 -122.107608 36.763190 -1063.850708 75813.186452 3
#   32 -122.108280 36.764902 -988.251480 76012.357759 3
#   33 -122.081617 36.802664 -432.136543 80830.101752 3
#   34 -122.084306 36.801763 -370.579636 81089.987548 3
#   35 -122.109155 36.766311 -938.487869 85604.972420 3
#   36 -122.110073 36.767606 -916.629883 85770.358986 3
#   37 -122.088451 36.798338 -409.676598 89687.809524 3
#   38 -122.090013 36.799008 -335.611076 89845.750299 3
#   39 -122.111081 36.769048 -845.897949 93664.303237 3
#   40 -122.111865 36.770670 -798.249771 93857.370013 3
#   41 -122.103276 36.782987 -647.870193 95424.096239 3
#   42 -122.053086 36.776588 -471.803467 99958.919580 4
# 
# A total of 968 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 66600;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1227.787293;
abortDepth = 1252.787293;
minAltitude = 50.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 35.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 621;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update 1 - sent status ping after end of survey 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Turn off power to sonars and stop logging on the PLC 
# by setting the value of the mode attribute to 0 (used to be False). 
behavior 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 42
#   Segment length 175.462930 meters
#   Minimum depth: 414.616702 meters looking forward 200.000000 meters along route
#   Maximum depth: 471.803467 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 364.616702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776588;
longitude = -122.053086;
duration = 701;
# abortOnTimeout    = True; 
initialDepth = 364.616702;
finalDepth = 364.616702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.186765
#   Actual altitude:          100
#   Commanded vehicle depth:  364.616702 
#   Seafloor depth:           -471.803467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.228335 meters
#   Minimum depth: 414.616702 meters looking forward 200.000000 meters along route
#   Maximum depth: 428.007760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 364.616702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776836;
longitude = -122.055028;
duration = 404;
initialDepth = 369.177748;
finalDepth = 364.616702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.186765
#   Actual altitude:          100
#   Commanded vehicle depth:  364.616702 
#   Seafloor depth:           -417.132181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.228131 meters
#   Minimum depth: 419.177748 meters looking forward 200.000000 meters along route
#   Maximum depth: 440.421882 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.177748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776979;
longitude = -122.056148;
duration = 404;
initialDepth = 378.127295;
finalDepth = 369.177748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.959893
#   Actual altitude:          60.959893
#   Commanded vehicle depth:  369.177748 
#   Seafloor depth:           -430.137641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.227926 meters
#   Minimum depth: 428.127295 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.639384 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.127295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777121;
longitude = -122.057269;
duration = 404;
initialDepth = 390.173492;
finalDepth = 378.127295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.02638
#   Actual altitude:          61.02638
#   Commanded vehicle depth:  378.127295 
#   Seafloor depth:           -439.153675
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.227723 meters
#   Minimum depth: 440.173492 meters looking forward 200.000000 meters along route
#   Maximum depth: 478.209126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.173492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777264;
longitude = -122.058389;
duration = 404;
initialDepth = 406.904548;
finalDepth = 390.173492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.856893
#   Actual altitude:          64.856893
#   Commanded vehicle depth:  390.173492 
#   Seafloor depth:           -455.030385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.227518 meters
#   Minimum depth: 456.904548 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.982519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 406.904548 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777407;
longitude = -122.059509;
duration = 404;
initialDepth = 429.821346;
finalDepth = 406.904548;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.74801
#   Actual altitude:          70.74801
#   Commanded vehicle depth:  406.904548 
#   Seafloor depth:           -477.652558
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.227314 meters
#   Minimum depth: 479.821346 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.485414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 429.821346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777550;
longitude = -122.060630;
duration = 404;
initialDepth = 456.945123;
finalDepth = 429.821346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.585686
#   Actual altitude:          71.585686
#   Commanded vehicle depth:  429.821346 
#   Seafloor depth:           -501.407032
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.227110 meters
#   Minimum depth: 508.487873 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.704243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.945123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777693;
longitude = -122.061750;
duration = 404;
initialDepth = 474.927455;
finalDepth = 456.945123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.585686
#   Actual altitude:          71.585686
#   Commanded vehicle depth:  456.94512255375 
#   Seafloor depth:           -527.779331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.226906 meters
#   Minimum depth: 524.927455 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.704243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 474.927455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777836;
longitude = -122.062870;
duration = 404;
initialDepth = 461.008861;
finalDepth = 474.927455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.8342084462504
#   Actual altitude:          70.8342084462504
#   Commanded vehicle depth:  474.927455 
#   Seafloor depth:           -537.236364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.226702 meters
#   Minimum depth: 511.008861 meters looking forward 200.000000 meters along route
#   Maximum depth: 535.275914 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.008861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777978;
longitude = -122.063991;
duration = 404;
initialDepth = 460.204745;
finalDepth = 461.008861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.308909
#   Actual altitude:          62.308909
#   Commanded vehicle depth:  461.008861 
#   Seafloor depth:           -520.879652
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.226498 meters
#   Minimum depth: 510.204745 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.904282 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.204745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778121;
longitude = -122.065111;
duration = 404;
initialDepth = 460.204745;
finalDepth = 460.204745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8707909999999
#   Actual altitude:          59.8707909999999
#   Commanded vehicle depth:  460.204745 
#   Seafloor depth:           -511.597737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.226293 meters
#   Minimum depth: 510.204745 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.328944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.204745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778264;
longitude = -122.066231;
duration = 404;
initialDepth = 461.647072;
finalDepth = 460.204745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.928001
#   Actual altitude:          52.928001
#   Commanded vehicle depth:  460.204745 
#   Seafloor depth:           -513.132746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.226091 meters
#   Minimum depth: 511.647072 meters looking forward 200.000000 meters along route
#   Maximum depth: 531.516521 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.647072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778407;
longitude = -122.067351;
duration = 404;
initialDepth = 469.942020;
finalDepth = 461.647072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.560248
#   Actual altitude:          56.560248
#   Commanded vehicle depth:  461.647072 
#   Seafloor depth:           -518.207320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.225886 meters
#   Minimum depth: 519.942020 meters looking forward 200.000000 meters along route
#   Maximum depth: 556.728302 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.942020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778550;
longitude = -122.068472;
duration = 404;
initialDepth = 483.076473;
finalDepth = 469.942020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.391568
#   Actual altitude:          63.391568
#   Commanded vehicle depth:  469.94202 
#   Seafloor depth:           -533.333588
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.225682 meters
#   Minimum depth: 533.076473 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.893754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.076473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778693;
longitude = -122.069592;
duration = 404;
initialDepth = 510.199812;
finalDepth = 483.076473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.5027120000001
#   Actual altitude:          77.5027120000001
#   Commanded vehicle depth:  483.076473 
#   Seafloor depth:           -560.579185
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.225478 meters
#   Minimum depth: 566.324813 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.512124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 510.199812 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778835;
longitude = -122.070712;
duration = 404;
initialDepth = 537.323097;
finalDepth = 510.199812;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.292469739325
#   Actual altitude:          100
#   Commanded vehicle depth:  510.199812260675 
#   Seafloor depth:           -619.492282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.225275 meters
#   Minimum depth: 623.160815 meters looking forward 200.000000 meters along route
#   Maximum depth: 764.006867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.323097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778978;
longitude = -122.071833;
duration = 404;
initialDepth = 564.446327;
finalDepth = 537.323097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       158.993705140279
#   Actual altitude:          100
#   Commanded vehicle depth:  537.323096859721 
#   Seafloor depth:           -696.316802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.225070 meters
#   Minimum depth: 704.871164 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.950887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 564.446327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779121;
longitude = -122.072953;
duration = 404;
initialDepth = 591.569502;
finalDepth = 564.446327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       206.606049934919
#   Actual altitude:          100
#   Commanded vehicle depth:  564.446327065081 
#   Seafloor depth:           -771.052377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.224867 meters
#   Minimum depth: 774.711688 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.239438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 591.569502 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779264;
longitude = -122.074073;
duration = 404;
initialDepth = 618.692623;
finalDepth = 591.569502;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       236.119427659147
#   Actual altitude:          100
#   Commanded vehicle depth:  591.569502340853 
#   Seafloor depth:           -827.688930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.224663 meters
#   Minimum depth: 834.972640 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.789557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 618.692623 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779407;
longitude = -122.075194;
duration = 404;
initialDepth = 645.815689;
finalDepth = 618.692623;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       257.040169777054
#   Actual altitude:          100
#   Commanded vehicle depth:  618.692623222946 
#   Seafloor depth:           -875.732793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.224459 meters
#   Minimum depth: 879.418609 meters looking forward 200.000000 meters along route
#   Maximum depth: 913.509162 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 645.815689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779550;
longitude = -122.076314;
duration = 404;
initialDepth = 672.938701;
finalDepth = 645.815689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       257.719917556597
#   Actual altitude:          100
#   Commanded vehicle depth:  645.815689443403 
#   Seafloor depth:           -903.535607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.224256 meters
#   Minimum depth: 905.085331 meters looking forward 200.000000 meters along route
#   Maximum depth: 919.213757 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 672.938701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779692;
longitude = -122.077434;
duration = 404;
initialDepth = 700.061658;
finalDepth = 672.938701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       257.719917556597
#   Actual altitude:          100
#   Commanded vehicle depth:  672.938701002222 
#   Seafloor depth:           -917.830732
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.224052 meters
#   Minimum depth: 913.850011 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.968949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.061658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779835;
longitude = -122.078555;
duration = 404;
initialDepth = 727.184561;
finalDepth = 700.061658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       244.892030997778
#   Actual altitude:          100
#   Commanded vehicle depth:  700.061658167359 
#   Seafloor depth:           -917.004935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.223848 meters
#   Minimum depth: 907.821228 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.333232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.184561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779978;
longitude = -122.079675;
duration = 404;
initialDepth = 754.307409;
finalDepth = 727.184561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       216.943276832641
#   Actual altitude:          100
#   Commanded vehicle depth:  727.184560670862 
#   Seafloor depth:           -929.333232
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.223645 meters
#   Minimum depth: 884.089671 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.751231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 754.307409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780121;
longitude = -122.080795;
duration = 404;
initialDepth = 781.430202;
finalDepth = 754.307409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       202.148671329138
#   Actual altitude:          100
#   Commanded vehicle depth:  754.307408512729 
#   Seafloor depth:           -912.050349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.223440 meters
#   Minimum depth: 879.544885 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.839890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.430202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780264;
longitude = -122.081916;
duration = 404;
initialDepth = 808.552940;
finalDepth = 781.430202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       157.742940487271
#   Actual altitude:          100
#   Commanded vehicle depth:  781.430201960913 
#   Seafloor depth:           -888.657448
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.223238 meters
#   Minimum depth: 879.544885 meters looking forward 200.000000 meters along route
#   Maximum depth: 907.024445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.552940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780407;
longitude = -122.083036;
duration = 404;
initialDepth = 828.233121;
finalDepth = 808.552940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.227246039087
#   Actual altitude:          100
#   Commanded vehicle depth:  808.552940479513 
#   Seafloor depth:           -899.905314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.223033 meters
#   Minimum depth: 878.233121 meters looking forward 200.000000 meters along route
#   Maximum depth: 907.024445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 828.233121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780549;
longitude = -122.084156;
duration = 404;
initialDepth = 801.078260;
finalDepth = 828.233121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.3523735204866
#   Actual altitude:          91.3523735204866
#   Commanded vehicle depth:  828.233121 
#   Seafloor depth:           -892.887407
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.222831 meters
#   Minimum depth: 851.078260 meters looking forward 200.000000 meters along route
#   Maximum depth: 897.234948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.078260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780692;
longitude = -122.085277;
duration = 404;
initialDepth = 758.739782;
finalDepth = 801.078260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.396073
#   Actual altitude:          77.396073
#   Commanded vehicle depth:  801.07826 
#   Seafloor depth:           -878.474333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.222626 meters
#   Minimum depth: 808.739782 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.019664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 758.739782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780835;
longitude = -122.086397;
duration = 404;
initialDepth = 733.752155;
finalDepth = 758.739782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.902235
#   Actual altitude:          90.902235
#   Commanded vehicle depth:  758.739782 
#   Seafloor depth:           -849.642017
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.222423 meters
#   Minimum depth: 783.752155 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.817647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.752155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780978;
longitude = -122.087517;
duration = 404;
initialDepth = 732.115480;
finalDepth = 733.752155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.902235
#   Actual altitude:          90.902235
#   Commanded vehicle depth:  733.752155 
#   Seafloor depth:           -806.436497
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.222220 meters
#   Minimum depth: 782.115480 meters looking forward 200.000000 meters along route
#   Maximum depth: 800.618575 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.115480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781121;
longitude = -122.088637;
duration = 404;
initialDepth = 724.452784;
finalDepth = 732.115480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.684342
#   Actual altitude:          72.684342
#   Commanded vehicle depth:  732.11548 
#   Seafloor depth:           -783.626764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.222016 meters
#   Minimum depth: 774.452784 meters looking forward 200.000000 meters along route
#   Maximum depth: 794.242283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.452784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781264;
longitude = -122.089758;
duration = 404;
initialDepth = 676.633327;
finalDepth = 724.452784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.8286260000001
#   Actual altitude:          65.8286260000001
#   Commanded vehicle depth:  724.452784 
#   Seafloor depth:           -790.281410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.221813 meters
#   Minimum depth: 726.633327 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.369643 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 676.633327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781406;
longitude = -122.090878;
duration = 404;
initialDepth = 651.234190;
finalDepth = 676.633327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.487707
#   Actual altitude:          97.487707
#   Commanded vehicle depth:  676.633327 
#   Seafloor depth:           -774.121034
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.221609 meters
#   Minimum depth: 701.234190 meters looking forward 200.000000 meters along route
#   Maximum depth: 764.581892 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 651.234190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781549;
longitude = -122.091998;
duration = 404;
initialDepth = 623.670138;
finalDepth = 651.234190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.487707
#   Actual altitude:          97.487707
#   Commanded vehicle depth:  651.23419 
#   Seafloor depth:           -727.113632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.221406 meters
#   Minimum depth: 673.670138 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.618537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 623.670138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781692;
longitude = -122.093119;
duration = 404;
initialDepth = 600.883041;
finalDepth = 623.670138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.879442
#   Actual altitude:          75.879442
#   Commanded vehicle depth:  623.670138 
#   Seafloor depth:           -698.987100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.221203 meters
#   Minimum depth: 650.883041 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.306492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 600.883041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781835;
longitude = -122.094239;
duration = 404;
initialDepth = 586.046718;
finalDepth = 600.883041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.3169620000001
#   Actual altitude:          75.3169620000001
#   Commanded vehicle depth:  600.883041 
#   Seafloor depth:           -672.052382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.220999 meters
#   Minimum depth: 636.046718 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.347781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 586.046718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781978;
longitude = -122.095359;
duration = 404;
initialDepth = 586.046718;
finalDepth = 586.046718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.1693409999999
#   Actual altitude:          71.1693409999999
#   Commanded vehicle depth:  586.046718 
#   Seafloor depth:           -647.634095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.220796 meters
#   Minimum depth: 636.046718 meters looking forward 200.000000 meters along route
#   Maximum depth: 712.539062 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 586.046718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782121;
longitude = -122.096480;
duration = 404;
initialDepth = 606.739885;
finalDepth = 586.046718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.6206629999999
#   Actual altitude:          78.6206629999999
#   Commanded vehicle depth:  586.046718 
#   Seafloor depth:           -664.667381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.220593 meters
#   Minimum depth: 656.739885 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.545355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 606.739885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782263;
longitude = -122.097600;
duration = 404;
initialDepth = 633.861861;
finalDepth = 606.739885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.474958
#   Actual altitude:          100
#   Commanded vehicle depth:  606.739885 
#   Seafloor depth:           -707.214843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.220389 meters
#   Minimum depth: 714.786298 meters looking forward 200.000000 meters along route
#   Maximum depth: 759.060739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 633.861861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782406;
longitude = -122.098720;
duration = 404;
initialDepth = 660.983782;
finalDepth = 633.861861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.165316332736
#   Actual altitude:          100
#   Commanded vehicle depth:  633.861860667264 
#   Seafloor depth:           -747.027177
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.220186 meters
#   Minimum depth: 746.692556 meters looking forward 200.000000 meters along route
#   Maximum depth: 762.095555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 660.983782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782549;
longitude = -122.099841;
duration = 404;
initialDepth = 650.385841;
finalDepth = 660.983782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.165316332736
#   Actual altitude:          100
#   Commanded vehicle depth:  660.98378167289 
#   Seafloor depth:           -758.342781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.219983 meters
#   Minimum depth: 700.385841 meters looking forward 200.000000 meters along route
#   Maximum depth: 762.095555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 650.385841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782692;
longitude = -122.100961;
duration = 404;
initialDepth = 605.981227;
finalDepth = 650.385841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.3589993271096
#   Actual altitude:          97.3589993271096
#   Commanded vehicle depth:  650.385841 
#   Seafloor depth:           -743.860229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 107.945879 meters
#   Minimum depth: 655.981227 meters looking forward 200.000000 meters along route
#   Maximum depth: 742.961008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 605.981227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782835;
longitude = -122.102081;
duration = 431;
initialDepth = 593.253674;
finalDepth = 605.981227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       93.474388
#   Actual altitude:          93.474388
#   Commanded vehicle depth:  605.981227 
#   Seafloor depth:           -691.166565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 129.931945 meters
#   Minimum depth: 643.253674 meters looking forward 200.000000 meters along route
#   Maximum depth: 685.780094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 593.253674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782987;
longitude = -122.103276;
duration = 519;
# abortOnTimeout    = True; 
initialDepth = 600.758384;
finalDepth = 593.253674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.185338
#   Actual altitude:          85.185338
#   Commanded vehicle depth:  593.253674 
#   Seafloor depth:           -647.870193
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 103.172921 meters
#   Minimum depth: 650.758384 meters looking forward 200.000000 meters along route
#   Maximum depth: 719.995790 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 600.758384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781966;
longitude = -122.103988;
duration = 412;
initialDepth = 603.004174;
finalDepth = 600.758384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.243257
#   Actual altitude:          85.243257
#   Commanded vehicle depth:  600.758384 
#   Seafloor depth:           -686.001641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.718658 meters
#   Minimum depth: 653.004174 meters looking forward 200.000000 meters along route
#   Maximum depth: 719.995790 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 603.004174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781154;
longitude = -122.104554;
duration = 402;
initialDepth = 599.896905;
finalDepth = 603.004174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.955054
#   Actual altitude:          88.955054
#   Commanded vehicle depth:  603.004174 
#   Seafloor depth:           -691.959228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.177853 meters
#   Minimum depth: 649.896905 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.360058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 599.896905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780363;
longitude = -122.105106;
duration = 408;
initialDepth = 599.896905;
finalDepth = 599.896905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.955054
#   Actual altitude:          88.955054
#   Commanded vehicle depth:  599.896905 
#   Seafloor depth:           -652.300236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.178088 meters
#   Minimum depth: 649.896905 meters looking forward 200.000000 meters along route
#   Maximum depth: 668.969924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 599.896905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779559;
longitude = -122.105666;
duration = 408;
initialDepth = 612.312727;
finalDepth = 599.896905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.1807660000001
#   Actual altitude:          61.1807660000001
#   Commanded vehicle depth:  599.896905 
#   Seafloor depth:           -661.077671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.178323 meters
#   Minimum depth: 662.312727 meters looking forward 200.000000 meters along route
#   Maximum depth: 690.657040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 612.312727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778756;
longitude = -122.106226;
duration = 408;
initialDepth = 618.912789;
finalDepth = 612.312727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.1807660000001
#   Actual altitude:          61.1807660000001
#   Commanded vehicle depth:  612.312727 
#   Seafloor depth:           -667.701328
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.178557 meters
#   Minimum depth: 668.912789 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.059677 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 618.912789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777953;
longitude = -122.106787;
duration = 408;
initialDepth = 646.291450;
finalDepth = 618.912789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.232693
#   Actual altitude:          75.232693
#   Commanded vehicle depth:  618.912789 
#   Seafloor depth:           -694.145482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.178793 meters
#   Minimum depth: 696.944766 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.680846 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 646.291450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777149;
longitude = -122.107347;
duration = 408;
initialDepth = 673.670175;
finalDepth = 646.291450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.567113657147
#   Actual altitude:          77.567113657147
#   Commanded vehicle depth:  646.291450342853 
#   Seafloor depth:           -723.858564
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.179027 meters
#   Minimum depth: 725.835903 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.341604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 673.670175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776346;
longitude = -122.107907;
duration = 408;
initialDepth = 701.048962;
finalDepth = 673.670175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.1307300782838
#   Actual altitude:          81.1307300782838
#   Commanded vehicle depth:  673.670174921716 
#   Seafloor depth:           -754.800905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.179262 meters
#   Minimum depth: 754.480426 meters looking forward 200.000000 meters along route
#   Maximum depth: 778.478896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.048962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775543;
longitude = -122.108467;
duration = 408;
initialDepth = 712.713731;
finalDepth = 701.048962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.1307300782838
#   Actual altitude:          81.1307300782838
#   Commanded vehicle depth:  701.048962200691 
#   Seafloor depth:           -769.218466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.179497 meters
#   Minimum depth: 762.713731 meters looking forward 200.000000 meters along route
#   Maximum depth: 778.478896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.713731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774740;
longitude = -122.109027;
duration = 408;
initialDepth = 712.713731;
finalDepth = 712.713731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.169503799309
#   Actual altitude:          68.169503799309
#   Commanded vehicle depth:  712.713731 
#   Seafloor depth:           -773.983690
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.179732 meters
#   Minimum depth: 762.713731 meters looking forward 200.000000 meters along route
#   Maximum depth: 771.203177 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.713731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773936;
longitude = -122.109587;
duration = 408;
initialDepth = 714.441062;
finalDepth = 712.713731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.269959
#   Actual altitude:          61.269959
#   Commanded vehicle depth:  712.713731 
#   Seafloor depth:           -765.290615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 103.126179 meters
#   Minimum depth: 764.441062 meters looking forward 200.000000 meters along route
#   Maximum depth: 771.707150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.441062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773133;
longitude = -122.110148;
duration = 412;
initialDepth = 716.521597;
finalDepth = 714.441062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5768839999999
#   Actual altitude:          52.5768839999999
#   Commanded vehicle depth:  714.441062 
#   Seafloor depth:           -764.454187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 103.175768 meters
#   Minimum depth: 766.521597 meters looking forward 200.000000 meters along route
#   Maximum depth: 784.251429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 716.521597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772322;
longitude = -122.110713;
duration = 412;
initialDepth = 720.932447;
finalDepth = 716.521597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4063779999999
#   Actual altitude:          55.4063779999999
#   Commanded vehicle depth:  716.521597 
#   Seafloor depth:           -771.927975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 106.991623 meters
#   Minimum depth: 770.932447 meters looking forward 200.000000 meters along route
#   Maximum depth: 797.234385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.932447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771511;
longitude = -122.111278;
duration = 427;
initialDepth = 732.318798;
finalDepth = 720.932447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.7066169999999
#   Actual altitude:          63.7066169999999
#   Commanded vehicle depth:  720.932447 
#   Seafloor depth:           -784.639064
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 92.976762 meters
#   Minimum depth: 782.318798 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.735700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.318798 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770670;
longitude = -122.111865;
duration = 371;
# abortOnTimeout    = True; 
initialDepth = 746.621606;
finalDepth = 732.318798;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.930973
#   Actual altitude:          65.930973
#   Commanded vehicle depth:  732.318798 
#   Seafloor depth:           -798.249771
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 100.090014 meters
#   Minimum depth: 796.621606 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.998607 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 746.621606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769889;
longitude = -122.111487;
duration = 400;
initialDepth = 773.440644;
finalDepth = 746.621606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       77.5693749999999
#   Actual altitude:          77.5693749999999
#   Commanded vehicle depth:  746.621606 
#   Seafloor depth:           -824.190981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 148.895161 meters
#   Minimum depth: 826.988813 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.582698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 773.440644 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769048;
longitude = -122.111081;
duration = 595;
# abortOnTimeout    = True; 
initialDepth = 760.155502;
finalDepth = 773.440644;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.5693749999999
#   Actual altitude:          77.5693749999999
#   Commanded vehicle depth:  773.440643942645 
#   Seafloor depth:           -845.897949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.531910 meters
#   Minimum depth: 810.155502 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.398301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 760.155502 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770216;
longitude = -122.110260;
duration = 406;
initialDepth = 749.651115;
finalDepth = 760.155502;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.4573050573555
#   Actual altitude:          72.4573050573555
#   Commanded vehicle depth:  760.155502 
#   Seafloor depth:           -828.635135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.531674 meters
#   Minimum depth: 799.651115 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.423092 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 749.651115 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771013;
longitude = -122.109699;
duration = 406;
initialDepth = 740.572161;
finalDepth = 749.651115;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.479633
#   Actual altitude:          68.479633
#   Commanded vehicle depth:  749.651115 
#   Seafloor depth:           -810.226270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.531441 meters
#   Minimum depth: 790.572161 meters looking forward 200.000000 meters along route
#   Maximum depth: 809.859077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.572161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771809;
longitude = -122.109139;
duration = 406;
initialDepth = 740.572161;
finalDepth = 740.572161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.575155
#   Actual altitude:          60.575155
#   Commanded vehicle depth:  740.572161 
#   Seafloor depth:           -799.652374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.688789 meters
#   Minimum depth: 790.572161 meters looking forward 200.000000 meters along route
#   Maximum depth: 806.993661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.572161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772606;
longitude = -122.108579;
duration = 406;
initialDepth = 746.552654;
finalDepth = 740.572161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.080213
#   Actual altitude:          59.080213
#   Commanded vehicle depth:  740.572161 
#   Seafloor depth:           -796.115924
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.373388 meters
#   Minimum depth: 796.552654 meters looking forward 200.000000 meters along route
#   Maximum depth: 810.948009 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 746.552654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773404;
longitude = -122.108018;
duration = 405;
initialDepth = 738.484986;
finalDepth = 746.552654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.0743550000001
#   Actual altitude:          60.0743550000001
#   Commanded vehicle depth:  746.552654 
#   Seafloor depth:           -806.627009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.530736 meters
#   Minimum depth: 788.484986 meters looking forward 200.000000 meters along route
#   Maximum depth: 810.948009 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.484986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774199;
longitude = -122.107459;
duration = 406;
initialDepth = 717.797724;
finalDepth = 738.484986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.5381349999999
#   Actual altitude:          64.5381349999999
#   Commanded vehicle depth:  738.484986 
#   Seafloor depth:           -803.023121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.530503 meters
#   Minimum depth: 767.797724 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.797650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.797724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774996;
longitude = -122.106899;
duration = 406;
initialDepth = 684.326304;
finalDepth = 717.797724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.585025
#   Actual altitude:          70.585025
#   Commanded vehicle depth:  717.797724 
#   Seafloor depth:           -788.382749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.530267 meters
#   Minimum depth: 734.326304 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.614231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.326304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775792;
longitude = -122.106338;
duration = 406;
initialDepth = 671.990213;
finalDepth = 684.326304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.9085419999999
#   Actual altitude:          81.9085419999999
#   Commanded vehicle depth:  684.326304 
#   Seafloor depth:           -766.234846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.530033 meters
#   Minimum depth: 721.990213 meters looking forward 200.000000 meters along route
#   Maximum depth: 765.176161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 671.990213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776589;
longitude = -122.105778;
duration = 406;
initialDepth = 666.646288;
finalDepth = 671.990213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.9085419999999
#   Actual altitude:          81.9085419999999
#   Commanded vehicle depth:  671.990213 
#   Seafloor depth:           -733.317172
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.529799 meters
#   Minimum depth: 716.646288 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.036636 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 666.646288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777385;
longitude = -122.105218;
duration = 406;
initialDepth = 666.646288;
finalDepth = 666.646288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.326959
#   Actual altitude:          61.326959
#   Commanded vehicle depth:  666.646288 
#   Seafloor depth:           -721.698751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.529564 meters
#   Minimum depth: 716.646288 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.451897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 666.646288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778182;
longitude = -122.104658;
duration = 406;
initialDepth = 668.818699;
finalDepth = 666.646288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.273331
#   Actual altitude:          60.273331
#   Commanded vehicle depth:  666.646288 
#   Seafloor depth:           -726.919619
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.529329 meters
#   Minimum depth: 718.818699 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.451897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 668.818699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778979;
longitude = -122.104098;
duration = 406;
initialDepth = 678.934102;
finalDepth = 668.818699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.8463459999999
#   Actual altitude:          65.8463459999999
#   Commanded vehicle depth:  668.818699 
#   Seafloor depth:           -734.665045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.529095 meters
#   Minimum depth: 728.934102 meters looking forward 200.000000 meters along route
#   Maximum depth: 748.042592 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 678.934102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779775;
longitude = -122.103538;
duration = 406;
initialDepth = 681.337034;
finalDepth = 678.934102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.8463459999999
#   Actual altitude:          65.8463459999999
#   Commanded vehicle depth:  678.934102 
#   Seafloor depth:           -732.619015
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.528860 meters
#   Minimum depth: 731.337034 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.847656 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.337034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780572;
longitude = -122.102977;
duration = 406;
initialDepth = 670.663883;
finalDepth = 681.337034;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.570546
#   Actual altitude:          71.570546
#   Commanded vehicle depth:  681.337034 
#   Seafloor depth:           -752.907580
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.528626 meters
#   Minimum depth: 720.663883 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.847656 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 670.663883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781368;
longitude = -122.102417;
duration = 406;
initialDepth = 660.703326;
finalDepth = 670.663883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.252434
#   Actual altitude:          89.252434
#   Commanded vehicle depth:  670.663883 
#   Seafloor depth:           -759.916317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.528392 meters
#   Minimum depth: 710.703326 meters looking forward 200.000000 meters along route
#   Maximum depth: 756.060909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 660.703326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782165;
longitude = -122.101857;
duration = 406;
initialDepth = 658.356316;
finalDepth = 660.703326;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.252434
#   Actual altitude:          89.252434
#   Commanded vehicle depth:  660.703326 
#   Seafloor depth:           -733.873824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.800817 meters
#   Minimum depth: 708.356316 meters looking forward 200.000000 meters along route
#   Maximum depth: 728.937069 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 658.356316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782961;
longitude = -122.101297;
duration = 411;
initialDepth = 658.356316;
finalDepth = 658.356316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.1704980000001
#   Actual altitude:          73.1704980000001
#   Commanded vehicle depth:  658.356316 
#   Seafloor depth:           -711.158133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.255262 meters
#   Minimum depth: 708.356316 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.450395 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 658.356316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783768;
longitude = -122.100730;
duration = 401;
initialDepth = 647.381804;
finalDepth = 658.356316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.5832330000001
#   Actual altitude:          60.5832330000001
#   Commanded vehicle depth:  658.356316 
#   Seafloor depth:           -718.939549
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.527688 meters
#   Minimum depth: 697.381804 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.450395 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 647.381804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784555;
longitude = -122.100177;
duration = 406;
initialDepth = 631.364847;
finalDepth = 647.381804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.94127
#   Actual altitude:          65.94127
#   Commanded vehicle depth:  647.381804 
#   Seafloor depth:           -713.323074
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.527453 meters
#   Minimum depth: 681.364847 meters looking forward 200.000000 meters along route
#   Maximum depth: 711.646590 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 631.364847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785351;
longitude = -122.099617;
duration = 406;
initialDepth = 609.498827;
finalDepth = 631.364847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.94127
#   Actual altitude:          65.94127
#   Commanded vehicle depth:  631.364847 
#   Seafloor depth:           -696.400229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.527219 meters
#   Minimum depth: 659.498827 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.236139 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 609.498827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786148;
longitude = -122.099056;
duration = 406;
initialDepth = 561.155165;
finalDepth = 609.498827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.810483
#   Actual altitude:          70.810483
#   Commanded vehicle depth:  609.498827 
#   Seafloor depth:           -680.309310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.526984 meters
#   Minimum depth: 611.155165 meters looking forward 200.000000 meters along route
#   Maximum depth: 677.793897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 561.155165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786944;
longitude = -122.098496;
duration = 406;
initialDepth = 520.934473;
finalDepth = 561.155165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.174725
#   Actual altitude:          97.174725
#   Commanded vehicle depth:  561.155165 
#   Seafloor depth:           -658.329890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.430453 meters
#   Minimum depth: 570.934473 meters looking forward 200.000000 meters along route
#   Maximum depth: 653.998726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.934473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787741;
longitude = -122.097936;
duration = 409;
initialDepth = 462.332037;
finalDepth = 520.934473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.174725
#   Actual altitude:          97.174725
#   Commanded vehicle depth:  520.934473 
#   Seafloor depth:           -609.998489
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.622812 meters
#   Minimum depth: 512.332037 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.760676 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.332037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788545;
longitude = -122.097371;
duration = 402;
initialDepth = 408.117961;
finalDepth = 462.332037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.618524
#   Actual altitude:          100
#   Commanded vehicle depth:  462.332037 
#   Seafloor depth:           -569.950561
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.526281 meters
#   Minimum depth: 458.117961 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.022984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 408.117961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789334;
longitude = -122.096816;
duration = 406;
initialDepth = 367.722276;
finalDepth = 408.117961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.618524
#   Actual altitude:          100
#   Commanded vehicle depth:  408.117961 
#   Seafloor depth:           -509.345460
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.526046 meters
#   Minimum depth: 417.722276 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.839702 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 367.722276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790131;
longitude = -122.096256;
duration = 406;
initialDepth = 350.762662;
finalDepth = 367.722276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.227499
#   Actual altitude:          100
#   Commanded vehicle depth:  367.722276 
#   Seafloor depth:           -452.285708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.525812 meters
#   Minimum depth: 400.762662 meters looking forward 200.000000 meters along route
#   Maximum depth: 446.810187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 350.762662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790927;
longitude = -122.095695;
duration = 406;
initialDepth = 336.996688;
finalDepth = 350.762662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.563432
#   Actual altitude:          84.563432
#   Commanded vehicle depth:  350.762662 
#   Seafloor depth:           -417.328254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.525578 meters
#   Minimum depth: 386.996688 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.084132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 336.996688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791724;
longitude = -122.095135;
duration = 406;
initialDepth = 302.887157;
finalDepth = 336.996688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.137643
#   Actual altitude:          81.137643
#   Commanded vehicle depth:  336.996688 
#   Seafloor depth:           -418.134331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.060098 meters
#   Minimum depth: 352.887157 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.084132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 302.887157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792520;
longitude = -122.094575;
duration = 408;
initialDepth = 296.449974;
finalDepth = 302.887157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.03483
#   Actual altitude:          85.03483
#   Commanded vehicle depth:  302.887157 
#   Seafloor depth:           -387.921987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.378024 meters
#   Minimum depth: 346.449974 meters looking forward 200.000000 meters along route
#   Maximum depth: 381.241690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.449974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793321;
longitude = -122.094012;
duration = 413;
initialDepth = 296.449974;
finalDepth = 296.449974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.03483
#   Actual altitude:          85.03483
#   Commanded vehicle depth:  296.449974 
#   Seafloor depth:           -352.770040
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.377781 meters
#   Minimum depth: 346.449974 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.968378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.449974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794132;
longitude = -122.093442;
duration = 413;
initialDepth = 302.856434;
finalDepth = 296.449974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.320066
#   Actual altitude:          56.320066
#   Commanded vehicle depth:  296.449974 
#   Seafloor depth:           -351.120263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.377537 meters
#   Minimum depth: 352.856434 meters looking forward 200.000000 meters along route
#   Maximum depth: 371.502438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 302.856434 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794943;
longitude = -122.092871;
duration = 413;
initialDepth = 295.177104;
finalDepth = 302.856434;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.719585
#   Actual altitude:          57.719585
#   Commanded vehicle depth:  302.856434 
#   Seafloor depth:           -360.576019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.377295 meters
#   Minimum depth: 345.177104 meters looking forward 200.000000 meters along route
#   Maximum depth: 371.502438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 295.177104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795754;
longitude = -122.092301;
duration = 413;
initialDepth = 260.082914;
finalDepth = 295.177104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.088895
#   Actual altitude:          72.088895
#   Commanded vehicle depth:  295.177104 
#   Seafloor depth:           -367.265999
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.377051 meters
#   Minimum depth: 310.082914 meters looking forward 200.000000 meters along route
#   Maximum depth: 365.673313 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 260.082914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796566;
longitude = -122.091730;
duration = 413;
initialDepth = 255.356524;
finalDepth = 260.082914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.108954
#   Actual altitude:          84.108954
#   Commanded vehicle depth:  260.082914 
#   Seafloor depth:           -344.191868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.376809 meters
#   Minimum depth: 305.356524 meters looking forward 200.000000 meters along route
#   Maximum depth: 341.935264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 255.356524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797377;
longitude = -122.091160;
duration = 413;
initialDepth = 255.356524;
finalDepth = 255.356524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.108954
#   Actual altitude:          84.108954
#   Commanded vehicle depth:  255.356524 
#   Seafloor depth:           -311.028676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 104.528371 meters
#   Minimum depth: 305.356524 meters looking forward 200.000000 meters along route
#   Maximum depth: 335.720671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 255.356524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798188;
longitude = -122.090590;
duration = 418;
initialDepth = 273.364735;
finalDepth = 255.356524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.530276
#   Actual altitude:          59.530276
#   Commanded vehicle depth:  255.356524 
#   Seafloor depth:           -314.886800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 157.940775 meters
#   Minimum depth: 323.364735 meters looking forward 200.000000 meters along route
#   Maximum depth: 410.392180 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 273.364735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799008;
longitude = -122.090013;
duration = 631;
# abortOnTimeout    = True; 
initialDepth = 315.684837;
finalDepth = 273.364735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.246341
#   Actual altitude:          62.246341
#   Commanded vehicle depth:  273.364735 
#   Seafloor depth:           -335.611076
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 156.992564 meters
#   Minimum depth: 388.353421 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.249859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 315.684837 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798338;
longitude = -122.088451;
duration = 627;
# abortOnTimeout    = True; 
initialDepth = 335.078191;
finalDepth = 315.684837;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.9917606427769
#   Actual altitude:          93.9917606427769
#   Commanded vehicle depth:  315.684837357223 
#   Seafloor depth:           -409.676598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.054461 meters
#   Minimum depth: 385.078191 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.249859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 335.078191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797106;
longitude = -122.089318;
duration = 400;
initialDepth = 332.348039;
finalDepth = 335.078191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.9917606427769
#   Actual altitude:          93.9917606427769
#   Commanded vehicle depth:  335.078191 
#   Seafloor depth:           -397.371965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.484915 meters
#   Minimum depth: 382.348039 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.964971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 332.348039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796321;
longitude = -122.089870;
duration = 405;
initialDepth = 332.348039;
finalDepth = 332.348039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.293774
#   Actual altitude:          62.293774
#   Commanded vehicle depth:  332.348039 
#   Seafloor depth:           -383.511266
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.485149 meters
#   Minimum depth: 382.348039 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.736753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 332.348039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795525;
longitude = -122.090430;
duration = 405;
initialDepth = 359.540902;
finalDepth = 332.348039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.833243
#   Actual altitude:          81.833243
#   Commanded vehicle depth:  332.348039 
#   Seafloor depth:           -414.181282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.485384 meters
#   Minimum depth: 412.577672 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.984145 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 359.540902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794729;
longitude = -122.090990;
duration = 405;
initialDepth = 339.473596;
finalDepth = 359.540902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.4165557674511
#   Actual altitude:          83.4165557674511
#   Commanded vehicle depth:  359.540902232549 
#   Seafloor depth:           -442.957458
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.485619 meters
#   Minimum depth: 389.473596 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.984145 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 339.473596 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793933;
longitude = -122.091550;
duration = 405;
initialDepth = 339.408173;
finalDepth = 339.473596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.4165557674511
#   Actual altitude:          83.4165557674511
#   Commanded vehicle depth:  339.473596 
#   Seafloor depth:           -412.036799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.860609 meters
#   Minimum depth: 389.408173 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.676237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 339.408173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793137;
longitude = -122.092110;
duration = 411;
initialDepth = 339.408173;
finalDepth = 339.408173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.563203
#   Actual altitude:          72.563203
#   Commanded vehicle depth:  339.408173 
#   Seafloor depth:           -389.464965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.111331 meters
#   Minimum depth: 389.408173 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.785278 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 339.408173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792330;
longitude = -122.092678;
duration = 400;
initialDepth = 363.424706;
finalDepth = 339.408173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.531054
#   Actual altitude:          68.531054
#   Commanded vehicle depth:  339.408173 
#   Seafloor depth:           -407.939227
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.486321 meters
#   Minimum depth: 413.424706 meters looking forward 200.000000 meters along route
#   Maximum depth: 480.829451 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 363.424706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791544;
longitude = -122.093231;
duration = 405;
initialDepth = 390.617883;
finalDepth = 363.424706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.639825
#   Actual altitude:          83.639825
#   Commanded vehicle depth:  363.424706 
#   Seafloor depth:           -447.064531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.486556 meters
#   Minimum depth: 448.569856 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.205165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.617883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790748;
longitude = -122.093791;
duration = 405;
initialDepth = 417.811124;
finalDepth = 390.617883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.2837377310061
#   Actual altitude:          92.2837377310061
#   Commanded vehicle depth:  390.617883268994 
#   Seafloor depth:           -482.901621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.486791 meters
#   Minimum depth: 477.507954 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.205165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 417.811124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789952;
longitude = -122.094351;
duration = 405;
initialDepth = 425.877538;
finalDepth = 417.811124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.2837377310061
#   Actual altitude:          92.2837377310061
#   Commanded vehicle depth:  417.811123506051 
#   Seafloor depth:           -508.611983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.487025 meters
#   Minimum depth: 475.877538 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.279195 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 425.877538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789156;
longitude = -122.094911;
duration = 405;
initialDepth = 426.018994;
finalDepth = 425.877538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.8008594939493
#   Actual altitude:          90.8008594939493
#   Commanded vehicle depth:  425.877538 
#   Seafloor depth:           -475.877538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.806551 meters
#   Minimum depth: 476.018994 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.425993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.018994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788360;
longitude = -122.095471;
duration = 411;
initialDepth = 433.442020;
finalDepth = 426.018994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.975142
#   Actual altitude:          56.975142
#   Commanded vehicle depth:  426.018994 
#   Seafloor depth:           -482.994136
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.168202 meters
#   Minimum depth: 483.442020 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.411876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.442020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787553;
longitude = -122.096039;
duration = 400;
initialDepth = 460.282008;
finalDepth = 433.442020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.385037
#   Actual altitude:          94.385037
#   Commanded vehicle depth:  433.44202 
#   Seafloor depth:           -527.827057
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.487729 meters
#   Minimum depth: 539.572728 meters looking forward 200.000000 meters along route
#   Maximum depth: 626.955318 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.282008 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786767;
longitude = -122.096592;
duration = 405;
initialDepth = 487.475563;
finalDepth = 460.282008;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       116.106286646272
#   Actual altitude:          100
#   Commanded vehicle depth:  460.282008353728 
#   Seafloor depth:           -576.388295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.487963 meters
#   Minimum depth: 575.853510 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.593801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.475563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785971;
longitude = -122.097152;
duration = 405;
initialDepth = 514.669180;
finalDepth = 487.475563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       138.859354104819
#   Actual altitude:          100
#   Commanded vehicle depth:  487.475562895181 
#   Seafloor depth:           -626.334917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.488197 meters
#   Minimum depth: 628.699077 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.444951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 514.669180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785175;
longitude = -122.097712;
duration = 405;
initialDepth = 541.862860;
finalDepth = 514.669180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       158.731694863254
#   Actual altitude:          100
#   Commanded vehicle depth:  514.669180136746 
#   Seafloor depth:           -673.400875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.488432 meters
#   Minimum depth: 677.839516 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.930137 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.862860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784379;
longitude = -122.098272;
duration = 405;
initialDepth = 569.056603;
finalDepth = 541.862860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       160.845017921582
#   Actual altitude:          100
#   Commanded vehicle depth:  541.862860078418 
#   Seafloor depth:           -702.707878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.752490 meters
#   Minimum depth: 704.778602 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.880594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 569.056603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783583;
longitude = -122.098832;
duration = 411;
initialDepth = 596.589049;
finalDepth = 569.056603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       161.89795401185
#   Actual altitude:          100
#   Commanded vehicle depth:  569.05660298815 
#   Seafloor depth:           -730.954557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.225077 meters
#   Minimum depth: 728.556195 meters looking forward 200.000000 meters along route
#   Maximum depth: 770.585285 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.589049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782777;
longitude = -122.099399;
duration = 400;
initialDepth = 623.444277;
finalDepth = 596.589049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       161.89795401185
#   Actual altitude:          100
#   Commanded vehicle depth:  596.589049212117 
#   Seafloor depth:           -747.088709
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.489135 meters
#   Minimum depth: 748.336841 meters looking forward 200.000000 meters along route
#   Maximum depth: 788.466963 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 623.444277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781990;
longitude = -122.099953;
duration = 405;
initialDepth = 650.638208;
finalDepth = 623.444277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       150.499659787883
#   Actual altitude:          100
#   Commanded vehicle depth:  623.444277175891 
#   Seafloor depth:           -771.531119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.489370 meters
#   Minimum depth: 772.703354 meters looking forward 200.000000 meters along route
#   Maximum depth: 799.143186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 650.638208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781194;
longitude = -122.100513;
duration = 405;
initialDepth = 677.832203;
finalDepth = 650.638208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       148.086841824109
#   Actual altitude:          100
#   Commanded vehicle depth:  650.638208453901 
#   Seafloor depth:           -790.402198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.489604 meters
#   Minimum depth: 791.648084 meters looking forward 200.000000 meters along route
#   Maximum depth: 812.125719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 677.832203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780398;
longitude = -122.101073;
duration = 405;
initialDepth = 705.026260;
finalDepth = 677.832203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       139.763989546099
#   Actual altitude:          100
#   Commanded vehicle depth:  677.832202699973 
#   Seafloor depth:           -798.429941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.489838 meters
#   Minimum depth: 800.406686 meters looking forward 200.000000 meters along route
#   Maximum depth: 819.400793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.026260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779602;
longitude = -122.101633;
duration = 405;
initialDepth = 732.220379;
finalDepth = 705.026260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       120.597738300027
#   Actual altitude:          100
#   Commanded vehicle depth:  705.026259646154 
#   Seafloor depth:           -808.654341
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.698430 meters
#   Minimum depth: 801.550234 meters looking forward 200.000000 meters along route
#   Maximum depth: 819.400793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.220379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778806;
longitude = -122.102193;
duration = 410;
initialDepth = 746.202627;
finalDepth = 732.220379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       103.628081353846
#   Actual altitude:          100
#   Commanded vehicle depth:  732.220379292442 
#   Seafloor depth:           -813.311807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.281951 meters
#   Minimum depth: 796.202627 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.540847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 746.202627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778000;
longitude = -122.102760;
duration = 401;
initialDepth = 746.202627;
finalDepth = 746.202627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.0914277075583
#   Actual altitude:          81.0914277075583
#   Commanded vehicle depth:  746.202627 
#   Seafloor depth:           -806.013674
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.490542 meters
#   Minimum depth: 796.202627 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.174243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 746.202627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777213;
longitude = -122.103314;
duration = 405;
initialDepth = 736.305432;
finalDepth = 746.202627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.691001
#   Actual altitude:          83.691001
#   Commanded vehicle depth:  746.202627 
#   Seafloor depth:           -829.893628
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.490777 meters
#   Minimum depth: 786.305432 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.174243 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.305432 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776417;
longitude = -122.103874;
duration = 405;
initialDepth = 733.906117;
finalDepth = 736.305432;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.691001
#   Actual altitude:          83.691001
#   Commanded vehicle depth:  736.305432 
#   Seafloor depth:           -819.462028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.491011 meters
#   Minimum depth: 783.906117 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.561809 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.906117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775621;
longitude = -122.104434;
duration = 405;
initialDepth = 733.906117;
finalDepth = 733.906117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.156596
#   Actual altitude:          83.156596
#   Commanded vehicle depth:  733.906117 
#   Seafloor depth:           -788.118748
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.491246 meters
#   Minimum depth: 783.906117 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.843147 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.906117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774825;
longitude = -122.104994;
duration = 405;
initialDepth = 751.759087;
finalDepth = 733.906117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.362486
#   Actual altitude:          64.362486
#   Commanded vehicle depth:  733.906117 
#   Seafloor depth:           -798.268603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.644366 meters
#   Minimum depth: 801.759087 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.441700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 751.759087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774029;
longitude = -122.105554;
duration = 410;
initialDepth = 776.109349;
finalDepth = 751.759087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.232928
#   Actual altitude:          75.232928
#   Commanded vehicle depth:  751.759087 
#   Seafloor depth:           -826.992015
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.338829 meters
#   Minimum depth: 826.109349 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.633288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.109349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773223;
longitude = -122.106121;
duration = 401;
initialDepth = 760.596238;
finalDepth = 776.109349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.232928
#   Actual altitude:          75.232928
#   Commanded vehicle depth:  776.109349 
#   Seafloor depth:           -834.541331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.491949 meters
#   Minimum depth: 810.596238 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.633288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 760.596238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772436;
longitude = -122.106675;
duration = 405;
initialDepth = 760.596238;
finalDepth = 760.596238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.841885
#   Actual altitude:          65.841885
#   Commanded vehicle depth:  760.596238 
#   Seafloor depth:           -826.438123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.492184 meters
#   Minimum depth: 810.596238 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.716182 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 760.596238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771640;
longitude = -122.107235;
duration = 405;
initialDepth = 763.227698;
finalDepth = 760.596238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.841885
#   Actual altitude:          65.841885
#   Commanded vehicle depth:  760.596238 
#   Seafloor depth:           -812.508109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.492418 meters
#   Minimum depth: 813.227698 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.491261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 763.227698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770844;
longitude = -122.107795;
duration = 405;
initialDepth = 780.016485;
finalDepth = 763.227698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6434889999999
#   Actual altitude:          65.6434889999999
#   Commanded vehicle depth:  763.227698 
#   Seafloor depth:           -828.871187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.492653 meters
#   Minimum depth: 830.016485 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.014683 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.016485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770048;
longitude = -122.108355;
duration = 405;
initialDepth = 789.231540;
finalDepth = 780.016485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6434889999999
#   Actual altitude:          65.6434889999999
#   Commanded vehicle depth:  780.016485 
#   Seafloor depth:           -839.641323
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.590302 meters
#   Minimum depth: 839.231540 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.802763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 789.231540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769252;
longitude = -122.108915;
duration = 410;
initialDepth = 804.540636;
finalDepth = 789.231540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.150003
#   Actual altitude:          62.150003
#   Commanded vehicle depth:  789.23154 
#   Seafloor depth:           -851.381543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.194567 meters
#   Minimum depth: 854.540636 meters looking forward 200.000000 meters along route
#   Maximum depth: 912.509941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.540636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768447;
longitude = -122.109481;
duration = 428;
initialDepth = 833.263333;
finalDepth = 804.540636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       71.287408
#   Actual altitude:          71.287408
#   Commanded vehicle depth:  804.540636 
#   Seafloor depth:           -875.828044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 165.386566 meters
#   Minimum depth: 898.732398 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.850409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.263333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767606;
longitude = -122.110073;
duration = 661;
# abortOnTimeout    = True; 
initialDepth = 867.632022;
finalDepth = 833.263333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       83.3665498524276
#   Actual altitude:          83.3665498524276
#   Commanded vehicle depth:  833.263333147572 
#   Seafloor depth:           -916.629883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 125.007283 meters
#   Minimum depth: 917.632022 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.802028 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.632022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766311;
longitude = -122.109155;
duration = 500;
# abortOnTimeout    = True; 
initialDepth = 839.338556;
finalDepth = 867.632022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.3665498524276
#   Actual altitude:          83.3665498524276
#   Commanded vehicle depth:  867.632022 
#   Seafloor depth:           -938.487869
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.783647 meters
#   Minimum depth: 889.338556 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.233522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.338556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767293;
longitude = -122.108467;
duration = 407;
initialDepth = 824.740190;
finalDepth = 839.338556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.761904
#   Actual altitude:          77.761904
#   Commanded vehicle depth:  839.338556 
#   Seafloor depth:           -917.100460
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.629896 meters
#   Minimum depth: 874.740190 meters looking forward 200.000000 meters along route
#   Maximum depth: 917.443385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 824.740190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768092;
longitude = -122.107907;
duration = 410;
initialDepth = 822.654966;
finalDepth = 824.740190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.761904
#   Actual altitude:          77.761904
#   Commanded vehicle depth:  824.74019 
#   Seafloor depth:           -889.217427
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.936696 meters
#   Minimum depth: 872.654966 meters looking forward 200.000000 meters along route
#   Maximum depth: 887.259290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.654966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768898;
longitude = -122.107342;
duration = 403;
initialDepth = 807.638679;
finalDepth = 822.654966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.4772370000001
#   Actual altitude:          64.4772370000001
#   Commanded vehicle depth:  822.654966 
#   Seafloor depth:           -874.274693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.782944 meters
#   Minimum depth: 857.638679 meters looking forward 200.000000 meters along route
#   Maximum depth: 877.099844 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.638679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769690;
longitude = -122.106787;
duration = 407;
initialDepth = 800.907220;
finalDepth = 807.638679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.7210269999999
#   Actual altitude:          66.7210269999999
#   Commanded vehicle depth:  807.638679 
#   Seafloor depth:           -874.359706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.782709 meters
#   Minimum depth: 850.907220 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.293601 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 800.907220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770489;
longitude = -122.106226;
duration = 407;
initialDepth = 800.907220;
finalDepth = 800.907220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.7210269999999
#   Actual altitude:          66.7210269999999
#   Commanded vehicle depth:  800.90722 
#   Seafloor depth:           -855.760080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.782474 meters
#   Minimum depth: 850.907220 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.432058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 800.907220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771288;
longitude = -122.105666;
duration = 407;
initialDepth = 823.787195;
finalDepth = 800.907220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.8308059999999
#   Actual altitude:          71.8308059999999
#   Commanded vehicle depth:  800.90722 
#   Seafloor depth:           -872.738026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.782240 meters
#   Minimum depth: 873.787195 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.432058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.787195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772088;
longitude = -122.105106;
duration = 407;
initialDepth = 787.614455;
finalDepth = 823.787195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.126303
#   Actual altitude:          84.126303
#   Commanded vehicle depth:  823.787195 
#   Seafloor depth:           -907.913498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.782005 meters
#   Minimum depth: 837.614455 meters looking forward 200.000000 meters along route
#   Maximum depth: 907.097993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 787.614455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772887;
longitude = -122.104546;
duration = 407;
initialDepth = 776.503135;
finalDepth = 787.614455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.558145
#   Actual altitude:          98.558145
#   Commanded vehicle depth:  787.614455 
#   Seafloor depth:           -886.172600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.796311 meters
#   Minimum depth: 826.503135 meters looking forward 200.000000 meters along route
#   Maximum depth: 885.061000 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.503135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773686;
longitude = -122.103986;
duration = 407;
initialDepth = 776.503135;
finalDepth = 776.503135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.558145
#   Actual altitude:          98.558145
#   Commanded vehicle depth:  776.503135 
#   Seafloor depth:           -836.868154
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.302409 meters
#   Minimum depth: 826.503135 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.938022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.503135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774485;
longitude = -122.103426;
duration = 413;
initialDepth = 796.024463;
finalDepth = 776.503135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.2312569999999
#   Actual altitude:          73.2312569999999
#   Commanded vehicle depth:  776.503135 
#   Seafloor depth:           -849.734392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.245889 meters
#   Minimum depth: 846.024463 meters looking forward 200.000000 meters along route
#   Maximum depth: 892.716061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.024463 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775296;
longitude = -122.102857;
duration = 400;
initialDepth = 806.892185;
finalDepth = 796.024463;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.2312569999999
#   Actual altitude:          73.2312569999999
#   Commanded vehicle depth:  796.024463 
#   Seafloor depth:           -847.308805
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.781066 meters
#   Minimum depth: 856.892185 meters looking forward 200.000000 meters along route
#   Maximum depth: 893.168495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 806.892185 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776083;
longitude = -122.102305;
duration = 407;
initialDepth = 826.877925;
finalDepth = 806.892185;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.372702
#   Actual altitude:          84.372702
#   Commanded vehicle depth:  806.892185 
#   Seafloor depth:           -891.264887
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.780833 meters
#   Minimum depth: 876.877925 meters looking forward 200.000000 meters along route
#   Maximum depth: 893.952191 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.877925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776883;
longitude = -122.101745;
duration = 407;
initialDepth = 805.852668;
finalDepth = 826.877925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.372702
#   Actual altitude:          84.372702
#   Commanded vehicle depth:  826.877925 
#   Seafloor depth:           -891.266116
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.780597 meters
#   Minimum depth: 855.852668 meters looking forward 200.000000 meters along route
#   Maximum depth: 893.952191 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.852668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777682;
longitude = -122.101185;
duration = 407;
initialDepth = 776.672116;
finalDepth = 805.852668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.59665
#   Actual altitude:          71.59665
#   Commanded vehicle depth:  805.852668 
#   Seafloor depth:           -877.449318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.780364 meters
#   Minimum depth: 826.672116 meters looking forward 200.000000 meters along route
#   Maximum depth: 879.854228 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.672116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778481;
longitude = -122.100625;
duration = 407;
initialDepth = 750.845006;
finalDepth = 776.672116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.062548
#   Actual altitude:          78.062548
#   Commanded vehicle depth:  776.672116 
#   Seafloor depth:           -854.734664
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.780128 meters
#   Minimum depth: 800.845006 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.149717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 750.845006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779280;
longitude = -122.100065;
duration = 407;
initialDepth = 726.788619;
finalDepth = 750.845006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.062548
#   Actual altitude:          78.062548
#   Commanded vehicle depth:  750.845006 
#   Seafloor depth:           -825.956335
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.483369 meters
#   Minimum depth: 776.788619 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.680213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.788619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780079;
longitude = -122.099505;
duration = 409;
initialDepth = 701.277947;
finalDepth = 726.788619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.111329
#   Actual altitude:          75.111329
#   Commanded vehicle depth:  726.788619 
#   Seafloor depth:           -800.888829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.076184 meters
#   Minimum depth: 751.277947 meters looking forward 200.000000 meters along route
#   Maximum depth: 801.343226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 701.277947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780884;
longitude = -122.098940;
duration = 404;
initialDepth = 667.572330;
finalDepth = 701.277947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.490366
#   Actual altitude:          76.490366
#   Commanded vehicle depth:  701.277947 
#   Seafloor depth:           -777.768313
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.779425 meters
#   Minimum depth: 717.572330 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.052853 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 667.572330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781678;
longitude = -122.098384;
duration = 407;
initialDepth = 628.890088;
finalDepth = 667.572330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.1341990000001
#   Actual altitude:          82.1341990000001
#   Commanded vehicle depth:  667.57233 
#   Seafloor depth:           -749.706529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.779190 meters
#   Minimum depth: 678.890088 meters looking forward 200.000000 meters along route
#   Maximum depth: 747.089719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 628.890088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782477;
longitude = -122.097824;
duration = 407;
initialDepth = 571.578646;
finalDepth = 628.890088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.518276
#   Actual altitude:          89.518276
#   Commanded vehicle depth:  628.890088 
#   Seafloor depth:           -718.408364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.778956 meters
#   Minimum depth: 621.578646 meters looking forward 200.000000 meters along route
#   Maximum depth: 721.898132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.578646 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783276;
longitude = -122.097264;
duration = 407;
initialDepth = 535.920163;
finalDepth = 571.578646;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.787782
#   Actual altitude:          96.787782
#   Commanded vehicle depth:  571.578646 
#   Seafloor depth:           -668.366428
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.778721 meters
#   Minimum depth: 585.920163 meters looking forward 200.000000 meters along route
#   Maximum depth: 664.358014 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 535.920163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784075;
longitude = -122.096704;
duration = 407;
initialDepth = 501.112494;
finalDepth = 535.920163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.787782
#   Actual altitude:          96.787782
#   Commanded vehicle depth:  535.920163 
#   Seafloor depth:           -622.055637
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.778486 meters
#   Minimum depth: 551.112494 meters looking forward 200.000000 meters along route
#   Maximum depth: 620.031297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.112494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784874;
longitude = -122.096144;
duration = 407;
initialDepth = 487.922100;
finalDepth = 501.112494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.135474
#   Actual altitude:          86.135474
#   Commanded vehicle depth:  501.112494 
#   Seafloor depth:           -582.644164
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.778252 meters
#   Minimum depth: 537.922100 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.123655 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.922100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785674;
longitude = -122.095583;
duration = 407;
initialDepth = 487.194058;
finalDepth = 487.922100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.5316700000001
#   Actual altitude:          81.5316700000001
#   Commanded vehicle depth:  487.9221 
#   Seafloor depth:           -550.544064
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.170402 meters
#   Minimum depth: 537.194058 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.019037 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.194058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786473;
longitude = -122.095023;
duration = 412;
initialDepth = 487.194058;
finalDepth = 487.194058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.621964
#   Actual altitude:          62.621964
#   Commanded vehicle depth:  487.194058 
#   Seafloor depth:           -537.918673
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.385398 meters
#   Minimum depth: 537.194058 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.839352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.194058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787283;
longitude = -122.094455;
duration = 401;
initialDepth = 491.234393;
finalDepth = 487.194058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.295719
#   Actual altitude:          58.295719
#   Commanded vehicle depth:  487.194058 
#   Seafloor depth:           -545.489777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.777549 meters
#   Minimum depth: 541.234393 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.280036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.234393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788071;
longitude = -122.093903;
duration = 407;
initialDepth = 504.667394;
finalDepth = 491.234393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.604961
#   Actual altitude:          61.604961
#   Commanded vehicle depth:  491.234393 
#   Seafloor depth:           -552.839354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.777313 meters
#   Minimum depth: 554.667394 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.987425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.667394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788870;
longitude = -122.093343;
duration = 407;
initialDepth = 449.095698;
finalDepth = 504.667394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.9990630000001
#   Actual altitude:          86.9990630000001
#   Commanded vehicle depth:  504.667394 
#   Seafloor depth:           -591.666457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.777080 meters
#   Minimum depth: 499.095698 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.987425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.095698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789669;
longitude = -122.092783;
duration = 407;
initialDepth = 411.951111;
finalDepth = 449.095698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.454914
#   Actual altitude:          100
#   Commanded vehicle depth:  449.095698 
#   Seafloor depth:           -577.550612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.776844 meters
#   Minimum depth: 461.951111 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.834884 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.951111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790469;
longitude = -122.092222;
duration = 407;
initialDepth = 377.211982;
finalDepth = 411.951111;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.454914
#   Actual altitude:          100
#   Commanded vehicle depth:  411.951111 
#   Seafloor depth:           -496.885525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.776610 meters
#   Minimum depth: 427.211982 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.975979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 377.211982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791268;
longitude = -122.091662;
duration = 407;
initialDepth = 372.384609;
finalDepth = 377.211982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.9344139999999
#   Actual altitude:          84.9344139999999
#   Commanded vehicle depth:  377.211982 
#   Seafloor depth:           -461.098687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.336853 meters
#   Minimum depth: 422.384609 meters looking forward 200.000000 meters along route
#   Maximum depth: 456.990010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.384609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792067;
longitude = -122.091102;
duration = 409;
initialDepth = 372.384609;
finalDepth = 372.384609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.886705
#   Actual altitude:          83.886705
#   Commanded vehicle depth:  372.384609 
#   Seafloor depth:           -427.179300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.215664 meters
#   Minimum depth: 422.384609 meters looking forward 200.000000 meters along route
#   Maximum depth: 468.481728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.384609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792871;
longitude = -122.090539;
duration = 404;
initialDepth = 382.420459;
finalDepth = 372.384609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.253562
#   Actual altitude:          56.253562
#   Commanded vehicle depth:  372.384609 
#   Seafloor depth:           -428.638171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.775906 meters
#   Minimum depth: 432.420459 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.413208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.420459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793665;
longitude = -122.089982;
duration = 407;
initialDepth = 409.691230;
finalDepth = 382.420459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.632579
#   Actual altitude:          96.632579
#   Commanded vehicle depth:  382.420459 
#   Seafloor depth:           -479.053038
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.775672 meters
#   Minimum depth: 464.909717 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.413208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 409.691230 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794464;
longitude = -122.089422;
duration = 407;
initialDepth = 398.919357;
finalDepth = 409.691230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.632579
#   Actual altitude:          96.632579
#   Commanded vehicle depth:  409.691230334503 
#   Seafloor depth:           -490.508779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.775438 meters
#   Minimum depth: 448.919357 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.833509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.919357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795264;
longitude = -122.088862;
duration = 407;
initialDepth = 398.305575;
finalDepth = 398.919357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.8175486654965
#   Actual altitude:          80.8175486654965
#   Commanded vehicle depth:  398.919357 
#   Seafloor depth:           -464.495610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.775202 meters
#   Minimum depth: 448.305575 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.401798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.305575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796063;
longitude = -122.088301;
duration = 407;
initialDepth = 386.788152;
finalDepth = 398.305575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.576253
#   Actual altitude:          65.576253
#   Commanded vehicle depth:  398.305575 
#   Seafloor depth:           -448.756677
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.774969 meters
#   Minimum depth: 436.788152 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.401798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 386.788152 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796862;
longitude = -122.087741;
duration = 407;
initialDepth = 386.788152;
finalDepth = 386.788152;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.703485
#   Actual altitude:          75.703485
#   Commanded vehicle depth:  386.788152 
#   Seafloor depth:           -462.491637
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.774734 meters
#   Minimum depth: 436.788152 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.315514 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 386.788152 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797661;
longitude = -122.087181;
duration = 407;
initialDepth = 406.719843;
finalDepth = 386.788152;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.703485
#   Actual altitude:          75.703485
#   Commanded vehicle depth:  386.788152 
#   Seafloor depth:           -452.439324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.023864 meters
#   Minimum depth: 456.719843 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.123556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 406.719843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798460;
longitude = -122.086621;
duration = 412;
initialDepth = 413.098848;
finalDepth = 406.719843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.492156
#   Actual altitude:          98.492156
#   Commanded vehicle depth:  406.719843 
#   Seafloor depth:           -505.211999
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.295026 meters
#   Minimum depth: 463.098848 meters looking forward 200.000000 meters along route
#   Maximum depth: 514.123556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.098848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799269;
longitude = -122.086054;
duration = 413;
initialDepth = 357.102670;
finalDepth = 413.098848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.492156
#   Actual altitude:          98.492156
#   Commanded vehicle depth:  413.098848 
#   Seafloor depth:           -501.415457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.294784 meters
#   Minimum depth: 407.102670 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.930207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 357.102670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800080;
longitude = -122.085485;
duration = 413;
initialDepth = 322.895627;
finalDepth = 357.102670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       103.872356
#   Actual altitude:          100
#   Commanded vehicle depth:  357.10267 
#   Seafloor depth:           -460.975026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 110.975490 meters
#   Minimum depth: 372.895627 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.043060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 322.895627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800892;
longitude = -122.084917;
duration = 443;
initialDepth = 315.870602;
finalDepth = 322.895627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       103.872356
#   Actual altitude:          100
#   Commanded vehicle depth:  322.895627 
#   Seafloor depth:           -404.312532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 155.236877 meters
#   Minimum depth: 365.870602 meters looking forward 200.000000 meters along route
#   Maximum depth: 388.872124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 315.870602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801763;
longitude = -122.084306;
duration = 620;
# abortOnTimeout    = True; 
initialDepth = 315.870602;
finalDepth = 315.870602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.416905
#   Actual altitude:          81.416905
#   Commanded vehicle depth:  315.870602 
#   Seafloor depth:           -370.579636
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 104.648919 meters
#   Minimum depth: 365.870602 meters looking forward 200.000000 meters along route
#   Maximum depth: 432.591368 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 315.870602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802301;
longitude = -122.082700;
duration = 418;
initialDepth = 343.911195;
finalDepth = 315.870602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       78.46017
#   Actual altitude:          78.46017
#   Commanded vehicle depth:  315.870602 
#   Seafloor depth:           -394.330772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 155.155319 meters
#   Minimum depth: 426.289714 meters looking forward 200.000000 meters along route
#   Maximum depth: 438.647864 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 343.911195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802664;
longitude = -122.081617;
duration = 620;
# abortOnTimeout    = True; 
initialDepth = 376.417061;
finalDepth = 343.911195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.2253481660567
#   Actual altitude:          88.2253481660567
#   Commanded vehicle depth:  343.911194833943 
#   Seafloor depth:           -432.136543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.209896 meters
#   Minimum depth: 426.417061 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.614762 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.417061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801448;
longitude = -122.082476;
duration = 404;
initialDepth = 376.417061;
finalDepth = 376.417061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.2253481660567
#   Actual altitude:          88.2253481660567
#   Commanded vehicle depth:  376.417061 
#   Seafloor depth:           -427.835142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.210130 meters
#   Minimum depth: 426.417061 meters looking forward 200.000000 meters along route
#   Maximum depth: 471.206396 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.417061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800654;
longitude = -122.083036;
duration = 404;
initialDepth = 400.141194;
finalDepth = 376.417061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.547106
#   Actual altitude:          69.547106
#   Commanded vehicle depth:  376.417061 
#   Seafloor depth:           -445.964167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.210364 meters
#   Minimum depth: 450.141194 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.296210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.141194 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799861;
longitude = -122.083596;
duration = 404;
initialDepth = 422.804716;
finalDepth = 400.141194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.44791
#   Actual altitude:          71.44791
#   Commanded vehicle depth:  400.141194 
#   Seafloor depth:           -471.589104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.210599 meters
#   Minimum depth: 472.804716 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.869030 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.804716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799068;
longitude = -122.084156;
duration = 404;
initialDepth = 443.779200;
finalDepth = 422.804716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.44791
#   Actual altitude:          71.44791
#   Commanded vehicle depth:  422.804716 
#   Seafloor depth:           -489.613280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.210833 meters
#   Minimum depth: 493.779200 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.766352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 443.779200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798274;
longitude = -122.084716;
duration = 404;
initialDepth = 470.898560;
finalDepth = 443.779200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.301726
#   Actual altitude:          86.301726
#   Commanded vehicle depth:  443.7792 
#   Seafloor depth:           -530.080926
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.211067 meters
#   Minimum depth: 524.785585 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.766352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.898560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797481;
longitude = -122.085277;
duration = 404;
initialDepth = 456.002891;
finalDepth = 470.898560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.301726
#   Actual altitude:          86.301726
#   Commanded vehicle depth:  470.898560483192 
#   Seafloor depth:           -547.498922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.211301 meters
#   Minimum depth: 506.002891 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.294959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.002891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796688;
longitude = -122.085837;
duration = 404;
initialDepth = 448.743912;
finalDepth = 456.002891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.6003615168078
#   Actual altitude:          76.6003615168078
#   Commanded vehicle depth:  456.002891 
#   Seafloor depth:           -521.182412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.211536 meters
#   Minimum depth: 498.743912 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.502159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.743912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795894;
longitude = -122.086397;
duration = 404;
initialDepth = 448.743912;
finalDepth = 448.743912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.844029
#   Actual altitude:          69.844029
#   Commanded vehicle depth:  448.743912 
#   Seafloor depth:           -518.587941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.211770 meters
#   Minimum depth: 498.743912 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.509111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 448.743912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795101;
longitude = -122.086957;
duration = 404;
initialDepth = 449.790391;
finalDepth = 448.743912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.844029
#   Actual altitude:          69.844029
#   Commanded vehicle depth:  448.743912 
#   Seafloor depth:           -499.404429
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.212004 meters
#   Minimum depth: 499.790391 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.963263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.790391 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794308;
longitude = -122.087517;
duration = 404;
initialDepth = 452.816945;
finalDepth = 449.790391;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.065074
#   Actual altitude:          87.065074
#   Commanded vehicle depth:  449.790391 
#   Seafloor depth:           -536.855465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.212239 meters
#   Minimum depth: 502.816945 meters looking forward 200.000000 meters along route
#   Maximum depth: 553.963263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.816945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793514;
longitude = -122.088077;
duration = 404;
initialDepth = 430.544885;
finalDepth = 452.816945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.214096
#   Actual altitude:          95.214096
#   Commanded vehicle depth:  452.816945 
#   Seafloor depth:           -548.031041
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.212473 meters
#   Minimum depth: 480.544885 meters looking forward 200.000000 meters along route
#   Maximum depth: 540.924362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.544885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792721;
longitude = -122.088637;
duration = 404;
initialDepth = 404.992895;
finalDepth = 430.544885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.214096
#   Actual altitude:          95.214096
#   Commanded vehicle depth:  430.544885 
#   Seafloor depth:           -508.845665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.212707 meters
#   Minimum depth: 454.992895 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.212447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 404.992895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791928;
longitude = -122.089198;
duration = 404;
initialDepth = 404.992895;
finalDepth = 404.992895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.30078
#   Actual altitude:          78.30078
#   Commanded vehicle depth:  404.992895 
#   Seafloor depth:           -478.764850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.212941 meters
#   Minimum depth: 454.992895 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.669449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 404.992895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791134;
longitude = -122.089758;
duration = 404;
initialDepth = 412.099539;
finalDepth = 404.992895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.771955
#   Actual altitude:          73.771955
#   Commanded vehicle depth:  404.992895 
#   Seafloor depth:           -457.468198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.213176 meters
#   Minimum depth: 462.099539 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.537881 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.099539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790341;
longitude = -122.090318;
duration = 404;
initialDepth = 439.219527;
finalDepth = 412.099539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.814965
#   Actual altitude:          81.814965
#   Commanded vehicle depth:  412.099539 
#   Seafloor depth:           -493.914504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.213410 meters
#   Minimum depth: 497.823410 meters looking forward 200.000000 meters along route
#   Maximum depth: 591.610624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.219527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789548;
longitude = -122.090878;
duration = 404;
initialDepth = 466.339578;
finalDepth = 439.219527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.3806377118611
#   Actual altitude:          86.3806377118611
#   Commanded vehicle depth:  439.219527288139 
#   Seafloor depth:           -525.600165
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.213644 meters
#   Minimum depth: 535.498481 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.555820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.339578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788754;
longitude = -122.091438;
duration = 404;
initialDepth = 493.459692;
finalDepth = 466.339578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       129.982309723615
#   Actual altitude:          100
#   Commanded vehicle depth:  466.339578276385 
#   Seafloor depth:           -596.321888
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.213879 meters
#   Minimum depth: 601.018195 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.755662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.459692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787961;
longitude = -122.091998;
duration = 404;
initialDepth = 520.579869;
finalDepth = 493.459692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       163.662412035256
#   Actual altitude:          100
#   Commanded vehicle depth:  493.459691964744 
#   Seafloor depth:           -657.122104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.214112 meters
#   Minimum depth: 600.665613 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.755662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.579869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787168;
longitude = -122.092559;
duration = 404;
initialDepth = 541.981852;
finalDepth = 520.579869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       163.662412035256
#   Actual altitude:          100
#   Commanded vehicle depth:  520.579868621161 
#   Seafloor depth:           -629.912672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.214348 meters
#   Minimum depth: 591.981852 meters looking forward 200.000000 meters along route
#   Maximum depth: 626.951776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.981852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786374;
longitude = -122.093119;
duration = 404;
initialDepth = 539.142452;
finalDepth = 541.981852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.332803378839
#   Actual altitude:          100
#   Commanded vehicle depth:  541.981852 
#   Seafloor depth:           -602.221985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.214581 meters
#   Minimum depth: 589.142452 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.400948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.142452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785581;
longitude = -122.093679;
duration = 404;
initialDepth = 539.142452;
finalDepth = 539.142452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.240133
#   Actual altitude:          60.240133
#   Commanded vehicle depth:  539.142452 
#   Seafloor depth:           -596.696612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.214816 meters
#   Minimum depth: 589.142452 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.655108 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.142452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784788;
longitude = -122.094239;
duration = 404;
initialDepth = 543.400443;
finalDepth = 539.142452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5541599999999
#   Actual altitude:          57.5541599999999
#   Commanded vehicle depth:  539.142452 
#   Seafloor depth:           -593.569435
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.215050 meters
#   Minimum depth: 593.400443 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.028802 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.400443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783994;
longitude = -122.094799;
duration = 404;
initialDepth = 546.924474;
finalDepth = 543.400443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.426983
#   Actual altitude:          54.426983
#   Commanded vehicle depth:  543.400443 
#   Seafloor depth:           -597.578817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.215284 meters
#   Minimum depth: 596.924474 meters looking forward 200.000000 meters along route
#   Maximum depth: 628.210034 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.924474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783201;
longitude = -122.095359;
duration = 404;
initialDepth = 563.148428;
finalDepth = 546.924474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.5303379999999
#   Actual altitude:          64.5303379999999
#   Commanded vehicle depth:  546.924474 
#   Seafloor depth:           -611.454812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.420666 meters
#   Minimum depth: 613.148428 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.744754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.148428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782408;
longitude = -122.095920;
duration = 409;
initialDepth = 578.711647;
finalDepth = 563.148428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.5303379999999
#   Actual altitude:          64.5303379999999
#   Commanded vehicle depth:  563.148428 
#   Seafloor depth:           -626.731488
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.010606 meters
#   Minimum depth: 628.711647 meters looking forward 200.000000 meters along route
#   Maximum depth: 691.408466 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 578.711647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781605;
longitude = -122.096486;
duration = 400;
initialDepth = 605.509408;
finalDepth = 578.711647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.2805920000001
#   Actual altitude:          93.2805920000001
#   Commanded vehicle depth:  578.711647 
#   Seafloor depth:           -671.992239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.215988 meters
#   Minimum depth: 666.369974 meters looking forward 200.000000 meters along route
#   Maximum depth: 724.915125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 605.509408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780821;
longitude = -122.097040;
duration = 404;
initialDepth = 632.630149;
finalDepth = 605.509408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.2805920000001
#   Actual altitude:          93.2805920000001
#   Commanded vehicle depth:  605.509407633555 
#   Seafloor depth:           -694.885922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.216221 meters
#   Minimum depth: 696.038962 meters looking forward 200.000000 meters along route
#   Maximum depth: 765.670007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 632.630149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780028;
longitude = -122.097600;
duration = 404;
initialDepth = 659.750954;
finalDepth = 632.630149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.7767146051932
#   Actual altitude:          94.7767146051932
#   Commanded vehicle depth:  632.630149394807 
#   Seafloor depth:           -727.406864
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.216457 meters
#   Minimum depth: 728.198179 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.111173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 659.750954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779234;
longitude = -122.098160;
duration = 404;
initialDepth = 686.871821;
finalDepth = 659.750954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.064859411781
#   Actual altitude:          100
#   Commanded vehicle depth:  659.750953588219 
#   Seafloor depth:           -766.815813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.267431 meters
#   Minimum depth: 768.104439 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.705293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.871821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778441;
longitude = -122.098720;
duration = 409;
initialDepth = 714.274296;
finalDepth = 686.871821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       130.595646982358
#   Actual altitude:          100
#   Commanded vehicle depth:  686.871821017642 
#   Seafloor depth:           -817.467468
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.166184 meters
#   Minimum depth: 819.494710 meters looking forward 200.000000 meters along route
#   Maximum depth: 900.302086 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.274296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777640;
longitude = -122.099286;
duration = 400;
initialDepth = 741.113744;
finalDepth = 714.274296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       158.8552989234
#   Actual altitude:          100
#   Commanded vehicle depth:  714.2742960766 
#   Seafloor depth:           -873.129595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.217159 meters
#   Minimum depth: 869.632875 meters looking forward 200.000000 meters along route
#   Maximum depth: 907.014991 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 741.113744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776854;
longitude = -122.099841;
duration = 404;
initialDepth = 768.234799;
finalDepth = 741.113744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       158.8552989234
#   Actual altitude:          100
#   Commanded vehicle depth:  741.113743708868 
#   Seafloor depth:           -897.689105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.217393 meters
#   Minimum depth: 898.021222 meters looking forward 200.000000 meters along route
#   Maximum depth: 919.028704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 768.234799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776061;
longitude = -122.100401;
duration = 404;
initialDepth = 795.355917;
finalDepth = 768.234799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       156.575361291132
#   Actual altitude:          100
#   Commanded vehicle depth:  768.234799238618 
#   Seafloor depth:           -907.485796
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.217628 meters
#   Minimum depth: 906.375332 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.820265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.355917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775268;
longitude = -122.100961;
duration = 404;
initialDepth = 822.477099;
finalDepth = 795.355917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       139.250996761382
#   Actual altitude:          100
#   Commanded vehicle depth:  795.355917468479 
#   Seafloor depth:           -916.822770
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.114194 meters
#   Minimum depth: 913.549580 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.820265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.477099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774474;
longitude = -122.101521;
duration = 408;
initialDepth = 834.666171;
finalDepth = 822.477099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       121.466852531521
#   Actual altitude:          100
#   Commanded vehicle depth:  822.477098666404 
#   Seafloor depth:           -920.657443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.321765 meters
#   Minimum depth: 884.666171 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.789688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.666171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773674;
longitude = -122.102086;
duration = 401;
initialDepth = 826.679986;
finalDepth = 834.666171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.1803443335963
#   Actual altitude:          98.1803443335963
#   Commanded vehicle depth:  834.666171 
#   Seafloor depth:           -913.423614
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.218331 meters
#   Minimum depth: 876.679986 meters looking forward 200.000000 meters along route
#   Maximum depth: 913.547922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.679986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772888;
longitude = -122.102641;
duration = 404;
initialDepth = 826.679986;
finalDepth = 826.679986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.7574430000001
#   Actual altitude:          78.7574430000001
#   Commanded vehicle depth:  826.679986 
#   Seafloor depth:           -881.398157
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.218565 meters
#   Minimum depth: 876.679986 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.125567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.679986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772094;
longitude = -122.103202;
duration = 404;
initialDepth = 853.801418;
finalDepth = 826.679986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.621941
#   Actual altitude:          88.621941
#   Commanded vehicle depth:  826.679986 
#   Seafloor depth:           -915.301927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.218800 meters
#   Minimum depth: 920.508886 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.904896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 853.801418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771301;
longitude = -122.103762;
duration = 404;
initialDepth = 848.286664;
finalDepth = 853.801418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.8145107336895
#   Actual altitude:          89.8145107336895
#   Commanded vehicle depth:  853.801418266311 
#   Seafloor depth:           -943.615929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.960953 meters
#   Minimum depth: 898.286664 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.904896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 848.286664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770508;
longitude = -122.104322;
duration = 407;
initialDepth = 848.286664;
finalDepth = 848.286664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.305252
#   Actual altitude:          94.305252
#   Commanded vehicle depth:  848.286664 
#   Seafloor depth:           -942.591916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.477349 meters
#   Minimum depth: 898.286664 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.413835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 848.286664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769709;
longitude = -122.104886;
duration = 401;
initialDepth = 850.677261;
finalDepth = 848.286664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.305252
#   Actual altitude:          94.305252
#   Commanded vehicle depth:  848.286664 
#   Seafloor depth:           -898.968500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.219503 meters
#   Minimum depth: 900.677261 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.053653 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.677261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768921;
longitude = -122.105442;
duration = 404;
initialDepth = 863.547426;
finalDepth = 850.677261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.911762
#   Actual altitude:          64.911762
#   Commanded vehicle depth:  850.677261 
#   Seafloor depth:           -915.589023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.219737 meters
#   Minimum depth: 913.547426 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.956088 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.547426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768128;
longitude = -122.106002;
duration = 404;
initialDepth = 868.835123;
finalDepth = 863.547426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.911762
#   Actual altitude:          64.911762
#   Commanded vehicle depth:  863.547426 
#   Seafloor depth:           -921.017305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.219972 meters
#   Minimum depth: 918.835123 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.351564 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.835123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767334;
longitude = -122.106562;
duration = 404;
initialDepth = 873.681511;
finalDepth = 868.835123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5121810000001
#   Actual altitude:          57.5121810000001
#   Commanded vehicle depth:  868.835123 
#   Seafloor depth:           -926.347304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.807708 meters
#   Minimum depth: 923.681511 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.493707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.681511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766541;
longitude = -122.107123;
duration = 407;
initialDepth = 890.133085;
finalDepth = 873.681511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.023095
#   Actual altitude:          64.023095
#   Commanded vehicle depth:  873.681511 
#   Seafloor depth:           -937.704606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.323904 meters
#   Minimum depth: 940.133085 meters looking forward 200.000000 meters along route
#   Maximum depth: 989.399011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.133085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765743;
longitude = -122.107686;
duration = 429;
initialDepth = 918.493707;
finalDepth = 890.133085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       78.7496359999999
#   Actual altitude:          78.7496359999999
#   Commanded vehicle depth:  890.133085 
#   Seafloor depth:           -968.882721
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 90.867518 meters
#   Minimum depth: 968.493707 meters looking forward 200.000000 meters along route
#   Maximum depth: 1010.357422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.493707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764902;
longitude = -122.108280;
duration = 363;
# abortOnTimeout    = True; 
initialDepth = 929.633838;
finalDepth = 918.493707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.7496359999999
#   Actual altitude:          78.7496359999999
#   Commanded vehicle depth:  918.493707 
#   Seafloor depth:           -988.251480
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 108.303789 meters
#   Minimum depth: 979.633838 meters looking forward 200.000000 meters along route
#   Maximum depth: 1065.282294 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 929.633838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764121;
longitude = -122.107973;
duration = 433;
initialDepth = 958.653750;
finalDepth = 929.633838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       77.904533
#   Actual altitude:          77.904533
#   Commanded vehicle depth:  929.633838 
#   Seafloor depth:           -1007.538371
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 107.599654 meters
#   Minimum depth: 1027.659568 meters looking forward 200.000000 meters along route
#   Maximum depth: 1067.085486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 958.653750 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763190;
longitude = -122.107608;
duration = 430;
# abortOnTimeout    = True; 
initialDepth = 947.630465;
finalDepth = 958.653750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.196957718606
#   Actual altitude:          100
#   Commanded vehicle depth:  958.653750281394 
#   Seafloor depth:           -1063.850708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.895850 meters
#   Minimum depth: 997.630465 meters looking forward 200.000000 meters along route
#   Maximum depth: 1066.717098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.630465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764032;
longitude = -122.107011;
duration = 403;
initialDepth = 911.078942;
finalDepth = 947.630465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.196957718606
#   Actual altitude:          100
#   Commanded vehicle depth:  947.630465 
#   Seafloor depth:           -1030.034005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.895616 meters
#   Minimum depth: 961.078942 meters looking forward 200.000000 meters along route
#   Maximum depth: 1027.749980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.078942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764822;
longitude = -122.106450;
duration = 403;
initialDepth = 895.969528;
finalDepth = 911.078942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.40354
#   Actual altitude:          82.40354
#   Commanded vehicle depth:  911.078942 
#   Seafloor depth:           -988.956625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.895382 meters
#   Minimum depth: 945.969528 meters looking forward 200.000000 meters along route
#   Maximum depth: 987.170029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.969528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765612;
longitude = -122.105890;
duration = 403;
initialDepth = 891.477974;
finalDepth = 895.969528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.877683
#   Actual altitude:          77.877683
#   Commanded vehicle depth:  895.969528 
#   Seafloor depth:           -961.415581
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.895148 meters
#   Minimum depth: 941.477974 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.233126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.477974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766402;
longitude = -122.105330;
duration = 403;
initialDepth = 889.313091;
finalDepth = 891.477974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.446053
#   Actual altitude:          65.446053
#   Commanded vehicle depth:  891.477974 
#   Seafloor depth:           -943.967520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.894914 meters
#   Minimum depth: 939.313091 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.063803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.313091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767192;
longitude = -122.104770;
duration = 403;
initialDepth = 881.717669;
finalDepth = 889.313091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.668215
#   Actual altitude:          60.668215
#   Commanded vehicle depth:  889.313091 
#   Seafloor depth:           -949.981306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.894679 meters
#   Minimum depth: 931.717669 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.367120 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.717669 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767982;
longitude = -122.104210;
duration = 403;
initialDepth = 879.189371;
finalDepth = 881.717669;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.668215
#   Actual altitude:          60.668215
#   Commanded vehicle depth:  881.717669 
#   Seafloor depth:           -939.317670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.894445 meters
#   Minimum depth: 929.189371 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.395325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.189371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768772;
longitude = -122.103650;
duration = 403;
initialDepth = 879.189371;
finalDepth = 879.189371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.600001
#   Actual altitude:          57.600001
#   Commanded vehicle depth:  879.189371 
#   Seafloor depth:           -929.956141
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.894211 meters
#   Minimum depth: 929.189371 meters looking forward 200.000000 meters along route
#   Maximum depth: 983.062773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.189371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769562;
longitude = -122.103090;
duration = 403;
initialDepth = 906.223893;
finalDepth = 879.189371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.046972
#   Actual altitude:          75.046972
#   Commanded vehicle depth:  879.189371 
#   Seafloor depth:           -954.236343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.893977 meters
#   Minimum depth: 958.798132 meters looking forward 200.000000 meters along route
#   Maximum depth: 983.062773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.223893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770352;
longitude = -122.102529;
duration = 403;
initialDepth = 875.812145;
finalDepth = 906.223893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.046972
#   Actual altitude:          75.046972
#   Commanded vehicle depth:  906.223892875502 
#   Seafloor depth:           -976.290981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.893742 meters
#   Minimum depth: 925.812145 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.294856 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.812145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771142;
longitude = -122.101969;
duration = 403;
initialDepth = 872.716031;
finalDepth = 875.812145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.915256
#   Actual altitude:          87.915256
#   Commanded vehicle depth:  875.812145 
#   Seafloor depth:           -963.727401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.893509 meters
#   Minimum depth: 922.716031 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.229154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.716031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771932;
longitude = -122.101409;
duration = 403;
initialDepth = 872.716031;
finalDepth = 872.716031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.915256
#   Actual altitude:          87.915256
#   Commanded vehicle depth:  872.716031 
#   Seafloor depth:           -929.701518
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.893274 meters
#   Minimum depth: 922.716031 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.051471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.716031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772722;
longitude = -122.100849;
duration = 403;
initialDepth = 886.717726;
finalDepth = 872.716031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.240908
#   Actual altitude:          81.240908
#   Commanded vehicle depth:  872.716031 
#   Seafloor depth:           -953.956939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.273242 meters
#   Minimum depth: 936.717726 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.051471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.717726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773512;
longitude = -122.100289;
duration = 405;
initialDepth = 870.113087;
finalDepth = 886.717726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.240908
#   Actual altitude:          81.240908
#   Commanded vehicle depth:  886.717726 
#   Seafloor depth:           -950.488675
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.512603 meters
#   Minimum depth: 920.113087 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.568090 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 870.113087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774305;
longitude = -122.099726;
duration = 402;
initialDepth = 856.484950;
finalDepth = 870.113087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8293450000001
#   Actual altitude:          67.8293450000001
#   Commanded vehicle depth:  870.113087 
#   Seafloor depth:           -937.942432
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.892572 meters
#   Minimum depth: 906.484950 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.701127 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.484950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775092;
longitude = -122.099168;
duration = 403;
initialDepth = 823.604346;
finalDepth = 856.484950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8293450000001
#   Actual altitude:          67.8293450000001
#   Commanded vehicle depth:  856.48495 
#   Seafloor depth:           -918.009069
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.892337 meters
#   Minimum depth: 873.604346 meters looking forward 200.000000 meters along route
#   Maximum depth: 917.566949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.604346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775882;
longitude = -122.098608;
duration = 403;
initialDepth = 783.066458;
finalDepth = 823.604346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.431563
#   Actual altitude:          76.431563
#   Commanded vehicle depth:  823.604346 
#   Seafloor depth:           -900.035909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.892103 meters
#   Minimum depth: 833.066458 meters looking forward 200.000000 meters along route
#   Maximum depth: 897.129096 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.066458 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776672;
longitude = -122.098048;
duration = 403;
initialDepth = 758.037645;
finalDepth = 783.066458;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.437151
#   Actual altitude:          88.437151
#   Commanded vehicle depth:  783.066458 
#   Seafloor depth:           -871.503609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.891869 meters
#   Minimum depth: 808.037645 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.916324 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 758.037645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777462;
longitude = -122.097488;
duration = 403;
initialDepth = 709.580254;
finalDepth = 758.037645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.437151
#   Actual altitude:          88.437151
#   Commanded vehicle depth:  758.037645 
#   Seafloor depth:           -832.873519
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.891635 meters
#   Minimum depth: 759.580254 meters looking forward 200.000000 meters along route
#   Maximum depth: 825.927079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 709.580254 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778252;
longitude = -122.096928;
duration = 403;
initialDepth = 668.812229;
finalDepth = 709.580254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.9372990000001
#   Actual altitude:          95.9372990000001
#   Commanded vehicle depth:  709.580254 
#   Seafloor depth:           -805.517553
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.891400 meters
#   Minimum depth: 718.812229 meters looking forward 200.000000 meters along route
#   Maximum depth: 805.241685 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 668.812229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779042;
longitude = -122.096368;
duration = 403;
initialDepth = 645.535370;
finalDepth = 668.812229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.9372990000001
#   Actual altitude:          95.9372990000001
#   Commanded vehicle depth:  668.812229 
#   Seafloor depth:           -754.338689
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.891167 meters
#   Minimum depth: 695.535370 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.628264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 645.535370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779832;
longitude = -122.095807;
duration = 403;
initialDepth = 625.171047;
finalDepth = 645.535370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.52646
#   Actual altitude:          85.52646
#   Commanded vehicle depth:  645.53537 
#   Seafloor depth:           -717.256881
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.890932 meters
#   Minimum depth: 675.171047 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.156622 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 625.171047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780622;
longitude = -122.095247;
duration = 403;
initialDepth = 610.955144;
finalDepth = 625.171047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.7215110000001
#   Actual altitude:          71.7215110000001
#   Commanded vehicle depth:  625.171047 
#   Seafloor depth:           -695.171114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.890698 meters
#   Minimum depth: 660.955144 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.302481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 610.955144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781412;
longitude = -122.094687;
duration = 403;
initialDepth = 596.910534;
finalDepth = 610.955144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.0000669999999
#   Actual altitude:          70.0000669999999
#   Commanded vehicle depth:  610.955144 
#   Seafloor depth:           -674.488038
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.890464 meters
#   Minimum depth: 646.910534 meters looking forward 200.000000 meters along route
#   Maximum depth: 676.847080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.910534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782202;
longitude = -122.094127;
duration = 403;
initialDepth = 588.488935;
finalDepth = 596.910534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.410131
#   Actual altitude:          65.410131
#   Commanded vehicle depth:  596.910534 
#   Seafloor depth:           -662.320665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.890229 meters
#   Minimum depth: 638.488935 meters looking forward 200.000000 meters along route
#   Maximum depth: 661.653503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 588.488935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782992;
longitude = -122.093567;
duration = 403;
initialDepth = 585.253884;
finalDepth = 588.488935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.410131
#   Actual altitude:          65.410131
#   Commanded vehicle depth:  588.488935 
#   Seafloor depth:           -647.687813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.889996 meters
#   Minimum depth: 635.253884 meters looking forward 200.000000 meters along route
#   Maximum depth: 647.269796 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 585.253884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783782;
longitude = -122.093007;
duration = 403;
initialDepth = 585.253884;
finalDepth = 585.253884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.198878
#   Actual altitude:          59.198878
#   Commanded vehicle depth:  585.253884 
#   Seafloor depth:           -638.389699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.889761 meters
#   Minimum depth: 635.253884 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.221470 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 585.253884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784572;
longitude = -122.092447;
duration = 403;
initialDepth = 591.147699;
finalDepth = 585.253884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.394365
#   Actual altitude:          55.394365
#   Commanded vehicle depth:  585.253884 
#   Seafloor depth:           -640.648249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.889527 meters
#   Minimum depth: 641.147699 meters looking forward 200.000000 meters along route
#   Maximum depth: 693.630522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 591.147699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785361;
longitude = -122.091886;
duration = 403;
initialDepth = 595.490052;
finalDepth = 591.147699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.736923
#   Actual altitude:          55.736923
#   Commanded vehicle depth:  591.147699 
#   Seafloor depth:           -646.884622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.889293 meters
#   Minimum depth: 645.490052 meters looking forward 200.000000 meters along route
#   Maximum depth: 704.191140 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 595.490052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786151;
longitude = -122.091326;
duration = 403;
initialDepth = 567.025824;
finalDepth = 595.490052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.604682
#   Actual altitude:          97.604682
#   Commanded vehicle depth:  595.490052 
#   Seafloor depth:           -693.094734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.154303 meters
#   Minimum depth: 617.025824 meters looking forward 200.000000 meters along route
#   Maximum depth: 704.191140 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 567.025824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786941;
longitude = -122.090766;
duration = 404;
initialDepth = 530.080523;
finalDepth = 567.025824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.871111
#   Actual altitude:          100
#   Commanded vehicle depth:  567.025824 
#   Seafloor depth:           -674.896935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.623581 meters
#   Minimum depth: 580.080523 meters looking forward 200.000000 meters along route
#   Maximum depth: 673.724256 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 530.080523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787733;
longitude = -122.090204;
duration = 402;
initialDepth = 501.459940;
finalDepth = 530.080523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.871111
#   Actual altitude:          100
#   Commanded vehicle depth:  530.080523 
#   Seafloor depth:           -616.940145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.888591 meters
#   Minimum depth: 551.459940 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.696196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.459940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788521;
longitude = -122.089646;
duration = 403;
initialDepth = 494.841190;
finalDepth = 501.459940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.8596220000001
#   Actual altitude:          86.8596220000001
#   Commanded vehicle depth:  501.45994 
#   Seafloor depth:           -579.748048
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.888356 meters
#   Minimum depth: 544.841190 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.192707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.841190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789311;
longitude = -122.089086;
duration = 403;
initialDepth = 483.987930;
finalDepth = 494.841190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.2881080000001
#   Actual altitude:          78.2881080000001
#   Commanded vehicle depth:  494.84119 
#   Seafloor depth:           -550.917841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.888123 meters
#   Minimum depth: 533.987930 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.052422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.987930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790101;
longitude = -122.088525;
duration = 403;
initialDepth = 480.809915;
finalDepth = 483.987930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.915825
#   Actual altitude:          60.915825
#   Commanded vehicle depth:  483.98793 
#   Seafloor depth:           -544.903755
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.887888 meters
#   Minimum depth: 530.809915 meters looking forward 200.000000 meters along route
#   Maximum depth: 546.082207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.809915 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790891;
longitude = -122.087965;
duration = 403;
initialDepth = 480.809915;
finalDepth = 480.809915;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.915825
#   Actual altitude:          60.915825
#   Commanded vehicle depth:  480.809915 
#   Seafloor depth:           -534.030317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.887654 meters
#   Minimum depth: 530.809915 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.449717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.809915 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791681;
longitude = -122.087405;
duration = 403;
initialDepth = 491.077322;
finalDepth = 480.809915;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.121401
#   Actual altitude:          60.121401
#   Commanded vehicle depth:  480.809915 
#   Seafloor depth:           -540.931316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.887420 meters
#   Minimum depth: 541.077322 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.957353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.077322 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792471;
longitude = -122.086845;
duration = 403;
initialDepth = 504.286014;
finalDepth = 491.077322;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.316157
#   Actual altitude:          70.316157
#   Commanded vehicle depth:  491.077322 
#   Seafloor depth:           -561.393479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.887186 meters
#   Minimum depth: 554.286014 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.957353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.286014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793261;
longitude = -122.086285;
duration = 403;
initialDepth = 494.017225;
finalDepth = 504.286014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.2051769999999
#   Actual altitude:          89.2051769999999
#   Commanded vehicle depth:  504.286014 
#   Seafloor depth:           -593.491191
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.886951 meters
#   Minimum depth: 544.017225 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.792823 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.017225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794051;
longitude = -122.085725;
duration = 403;
initialDepth = 494.017225;
finalDepth = 494.017225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.2051769999999
#   Actual altitude:          89.2051769999999
#   Commanded vehicle depth:  494.017225 
#   Seafloor depth:           -553.529377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.886718 meters
#   Minimum depth: 544.017225 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.241584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.017225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794841;
longitude = -122.085164;
duration = 403;
initialDepth = 504.801861;
finalDepth = 494.017225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.525936
#   Actual altitude:          67.525936
#   Commanded vehicle depth:  494.017225 
#   Seafloor depth:           -561.543161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.886483 meters
#   Minimum depth: 554.801861 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.858187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.801861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795631;
longitude = -122.084604;
duration = 403;
initialDepth = 509.024252;
finalDepth = 504.801861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.525936
#   Actual altitude:          67.525936
#   Commanded vehicle depth:  504.801861 
#   Seafloor depth:           -562.343703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.886250 meters
#   Minimum depth: 559.024252 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.182661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.024252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796421;
longitude = -122.084044;
duration = 403;
initialDepth = 475.797304;
finalDepth = 509.024252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.158409
#   Actual altitude:          89.158409
#   Commanded vehicle depth:  509.024252 
#   Seafloor depth:           -598.182661
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.740397 meters
#   Minimum depth: 525.797304 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.051294 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.797304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797211;
longitude = -122.083484;
duration = 406;
initialDepth = 468.872746;
finalDepth = 475.797304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.158409
#   Actual altitude:          89.158409
#   Commanded vehicle depth:  475.797304 
#   Seafloor depth:           -558.587411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.031399 meters
#   Minimum depth: 518.872746 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.782942 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.872746 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798008;
longitude = -122.082919;
duration = 400;
initialDepth = 455.027061;
finalDepth = 468.872746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.7901069999999
#   Actual altitude:          82.7901069999999
#   Commanded vehicle depth:  468.872746 
#   Seafloor depth:           -525.782244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.885547 meters
#   Minimum depth: 505.027061 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.168062 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.027061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798791;
longitude = -122.082364;
duration = 403;
initialDepth = 452.548481;
finalDepth = 455.027061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.512824
#   Actual altitude:          65.512824
#   Commanded vehicle depth:  455.027061 
#   Seafloor depth:           -520.539885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.885313 meters
#   Minimum depth: 502.548481 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.681604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.548481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799581;
longitude = -122.081804;
duration = 403;
initialDepth = 427.592650;
finalDepth = 452.548481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.512824
#   Actual altitude:          65.512824
#   Commanded vehicle depth:  452.548481 
#   Seafloor depth:           -507.181087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.035374 meters
#   Minimum depth: 477.592650 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.939194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 427.592650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800371;
longitude = -122.081243;
duration = 404;
initialDepth = 389.071415;
finalDepth = 427.592650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.474187
#   Actual altitude:          74.474187
#   Commanded vehicle depth:  427.59265 
#   Seafloor depth:           -502.066837
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 107.410070 meters
#   Minimum depth: 439.071415 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.042476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.071415 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801162;
longitude = -122.080682;
duration = 429;
initialDepth = 376.192925;
finalDepth = 389.071415;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       88.499295
#   Actual altitude:          88.499295
#   Commanded vehicle depth:  389.071415 
#   Seafloor depth:           -477.570710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 148.910186 meters
#   Minimum depth: 426.192925 meters looking forward 200.000000 meters along route
#   Maximum depth: 461.359604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.192925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802003;
longitude = -122.080086;
duration = 595;
# abortOnTimeout    = True; 
initialDepth = 376.192925;
finalDepth = 376.192925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       88.499295
#   Actual altitude:          88.499295
#   Commanded vehicle depth:  376.192925 
#   Seafloor depth:           -436.210976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 114.535111 meters
#   Minimum depth: 426.192925 meters looking forward 200.000000 meters along route
#   Maximum depth: 467.402125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.192925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801132;
longitude = -122.078816;
duration = 458;
# abortOnTimeout    = True; 
initialDepth = 385.360842;
finalDepth = 376.192925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.018051
#   Actual altitude:          60.018051
#   Commanded vehicle depth:  376.192925 
#   Seafloor depth:           -429.700165
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.055653 meters
#   Minimum depth: 435.360842 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.722353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 385.360842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800235;
longitude = -122.079451;
duration = 404;
initialDepth = 412.438622;
finalDepth = 385.360842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.087091
#   Actual altitude:          83.087091
#   Commanded vehicle depth:  385.360842 
#   Seafloor depth:           -468.447933
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.055888 meters
#   Minimum depth: 472.909421 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.118983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 412.438622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799443;
longitude = -122.080011;
duration = 404;
initialDepth = 439.516465;
finalDepth = 412.438622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.989757871747
#   Actual altitude:          96.989757871747
#   Commanded vehicle depth:  412.438622128253 
#   Seafloor depth:           -509.428380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.056123 meters
#   Minimum depth: 516.714497 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.234959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.516465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798651;
longitude = -122.080571;
duration = 404;
initialDepth = 466.594371;
finalDepth = 439.516465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       111.217639775435
#   Actual altitude:          100
#   Commanded vehicle depth:  439.516465224565 
#   Seafloor depth:           -550.734105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.056356 meters
#   Minimum depth: 549.436773 meters looking forward 200.000000 meters along route
#   Maximum depth: 608.805299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.594371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797859;
longitude = -122.081131;
duration = 404;
initialDepth = 493.672340;
finalDepth = 466.594371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       116.596082711068
#   Actual altitude:          100
#   Commanded vehicle depth:  466.594371288932 
#   Seafloor depth:           -583.190454
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.056590 meters
#   Minimum depth: 583.966212 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.301952 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 493.672340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797068;
longitude = -122.081692;
duration = 404;
initialDepth = 520.750371;
finalDepth = 493.672340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       116.596082711068
#   Actual altitude:          100
#   Commanded vehicle depth:  493.672339785463 
#   Seafloor depth:           -607.578225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.076701 meters
#   Minimum depth: 606.217260 meters looking forward 200.000000 meters along route
#   Maximum depth: 642.448858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.750371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796276;
longitude = -122.082252;
duration = 404;
initialDepth = 547.833791;
finalDepth = 520.750371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.905885214537
#   Actual altitude:          100
#   Commanded vehicle depth:  520.750370982106 
#   Seafloor depth:           -611.593884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.037183 meters
#   Minimum depth: 613.494462 meters looking forward 200.000000 meters along route
#   Maximum depth: 642.448858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.833791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795484;
longitude = -122.082812;
duration = 404;
initialDepth = 555.235126;
finalDepth = 547.833791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.3720740951403
#   Actual altitude:          94.3720740951403
#   Commanded vehicle depth:  547.83379090486 
#   Seafloor depth:           -642.205865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.057293 meters
#   Minimum depth: 605.235126 meters looking forward 200.000000 meters along route
#   Maximum depth: 641.640748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.235126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794693;
longitude = -122.083372;
duration = 404;
initialDepth = 543.638768;
finalDepth = 555.235126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.3720740951403
#   Actual altitude:          94.3720740951403
#   Commanded vehicle depth:  555.235126 
#   Seafloor depth:           -606.691772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.057527 meters
#   Minimum depth: 593.638768 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.452785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.638768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793901;
longitude = -122.083932;
duration = 404;
initialDepth = 543.638768;
finalDepth = 543.638768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.971623
#   Actual altitude:          59.971623
#   Commanded vehicle depth:  543.638768 
#   Seafloor depth:           -603.610391
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.057761 meters
#   Minimum depth: 593.638768 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.193374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 543.638768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793109;
longitude = -122.084492;
duration = 404;
initialDepth = 538.949139;
finalDepth = 543.638768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.667202
#   Actual altitude:          93.667202
#   Commanded vehicle depth:  543.638768 
#   Seafloor depth:           -637.305970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.946867 meters
#   Minimum depth: 588.949139 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.193374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.949139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792317;
longitude = -122.085052;
duration = 407;
initialDepth = 520.849366;
finalDepth = 538.949139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.66872
#   Actual altitude:          97.66872
#   Commanded vehicle depth:  538.949139 
#   Seafloor depth:           -636.617859
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.169358 meters
#   Minimum depth: 570.849366 meters looking forward 200.000000 meters along route
#   Maximum depth: 630.880940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.849366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791519;
longitude = -122.085618;
duration = 400;
initialDepth = 520.849366;
finalDepth = 520.849366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.66872
#   Actual altitude:          97.66872
#   Commanded vehicle depth:  520.849366 
#   Seafloor depth:           -588.574325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.058464 meters
#   Minimum depth: 570.849366 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.760548 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.849366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790734;
longitude = -122.086173;
duration = 404;
initialDepth = 523.932126;
finalDepth = 520.849366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.724959
#   Actual altitude:          67.724959
#   Commanded vehicle depth:  520.849366 
#   Seafloor depth:           -573.971597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.058698 meters
#   Minimum depth: 573.932126 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.987581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.932126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789942;
longitude = -122.086733;
duration = 404;
initialDepth = 533.294664;
finalDepth = 523.932126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.257113
#   Actual altitude:          59.257113
#   Commanded vehicle depth:  523.932126 
#   Seafloor depth:           -583.189239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.058933 meters
#   Minimum depth: 583.294664 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.785048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 533.294664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789150;
longitude = -122.087293;
duration = 404;
initialDepth = 547.167859;
finalDepth = 533.294664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.96669
#   Actual altitude:          62.96669
#   Commanded vehicle depth:  533.294664 
#   Seafloor depth:           -596.261354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.059166 meters
#   Minimum depth: 597.167859 meters looking forward 200.000000 meters along route
#   Maximum depth: 607.853460 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.167859 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788359;
longitude = -122.087853;
duration = 404;
initialDepth = 552.638323;
finalDepth = 547.167859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.96669
#   Actual altitude:          62.96669
#   Commanded vehicle depth:  547.167859 
#   Seafloor depth:           -602.752264
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.059401 meters
#   Minimum depth: 602.638323 meters looking forward 200.000000 meters along route
#   Maximum depth: 646.587336 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 552.638323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787567;
longitude = -122.088413;
duration = 404;
initialDepth = 559.082458;
finalDepth = 552.638323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5844049999999
#   Actual altitude:          55.5844049999999
#   Commanded vehicle depth:  552.638323 
#   Seafloor depth:           -607.710743
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.059635 meters
#   Minimum depth: 609.082458 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.071568 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.082458 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786775;
longitude = -122.088974;
duration = 404;
initialDepth = 586.161305;
finalDepth = 559.082458;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.9815520000001
#   Actual altitude:          93.9815520000001
#   Commanded vehicle depth:  559.082458 
#   Seafloor depth:           -653.064010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.059869 meters
#   Minimum depth: 655.029833 meters looking forward 200.000000 meters along route
#   Maximum depth: 739.217512 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 586.161305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785984;
longitude = -122.089534;
duration = 404;
initialDepth = 613.240215;
finalDepth = 586.161305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.355055898083
#   Actual altitude:          100
#   Commanded vehicle depth:  586.161305101917 
#   Seafloor depth:           -703.516361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.212444 meters
#   Minimum depth: 709.520234 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.340939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 613.240215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785192;
longitude = -122.090094;
duration = 404;
initialDepth = 633.772812;
finalDepth = 613.240215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       126.362846096059
#   Actual altitude:          100
#   Commanded vehicle depth:  613.240214903941 
#   Seafloor depth:           -739.603061
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.907996 meters
#   Minimum depth: 683.772812 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.340939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 633.772812 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784399;
longitude = -122.090655;
duration = 403;
initialDepth = 628.340043;
finalDepth = 633.772812;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       126.362846096059
#   Actual altitude:          100
#   Commanded vehicle depth:  633.772812 
#   Seafloor depth:           -716.445616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.060572 meters
#   Minimum depth: 678.340043 meters looking forward 200.000000 meters along route
#   Maximum depth: 706.859232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 628.340043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783608;
longitude = -122.091214;
duration = 404;
initialDepth = 628.340043;
finalDepth = 628.340043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.6728039999999
#   Actual altitude:          82.6728039999999
#   Commanded vehicle depth:  628.340043 
#   Seafloor depth:           -687.893008
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.060806 meters
#   Minimum depth: 678.340043 meters looking forward 200.000000 meters along route
#   Maximum depth: 701.933146 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 628.340043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782817;
longitude = -122.091774;
duration = 404;
initialDepth = 639.823339;
finalDepth = 628.340043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.943437
#   Actual altitude:          60.943437
#   Commanded vehicle depth:  628.340043 
#   Seafloor depth:           -689.283480
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.061040 meters
#   Minimum depth: 689.823339 meters looking forward 200.000000 meters along route
#   Maximum depth: 726.642993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 639.823339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782025;
longitude = -122.092334;
duration = 404;
initialDepth = 650.855640;
finalDepth = 639.823339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.176192
#   Actual altitude:          62.176192
#   Commanded vehicle depth:  639.823339 
#   Seafloor depth:           -701.999531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.082641 meters
#   Minimum depth: 700.855640 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.731798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 650.855640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781233;
longitude = -122.092895;
duration = 408;
initialDepth = 678.208601;
finalDepth = 650.855640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.406529
#   Actual altitude:          75.406529
#   Commanded vehicle depth:  650.85564 
#   Seafloor depth:           -726.262169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.040142 meters
#   Minimum depth: 729.595316 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.731798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 678.208601 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780433;
longitude = -122.093460;
duration = 400;
initialDepth = 684.232816;
finalDepth = 678.208601;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.406529
#   Actual altitude:          75.406529
#   Commanded vehicle depth:  678.208600728573 
#   Seafloor depth:           -749.264168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.061743 meters
#   Minimum depth: 734.232816 meters looking forward 200.000000 meters along route
#   Maximum depth: 758.950549 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.232816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779650;
longitude = -122.094015;
duration = 404;
initialDepth = 684.232816;
finalDepth = 684.232816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.0555672714268
#   Actual altitude:          71.0555672714268
#   Commanded vehicle depth:  684.232816 
#   Seafloor depth:           -734.786932
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.061977 meters
#   Minimum depth: 734.232816 meters looking forward 200.000000 meters along route
#   Maximum depth: 788.666409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.232816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778858;
longitude = -122.094575;
duration = 404;
initialDepth = 711.197035;
finalDepth = 684.232816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.581673
#   Actual altitude:          76.581673
#   Commanded vehicle depth:  684.232816 
#   Seafloor depth:           -760.814489
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.062211 meters
#   Minimum depth: 761.197035 meters looking forward 200.000000 meters along route
#   Maximum depth: 819.803323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.197035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778066;
longitude = -122.095135;
duration = 404;
initialDepth = 738.276572;
finalDepth = 711.197035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.247622
#   Actual altitude:          78.247622
#   Commanded vehicle depth:  711.197035 
#   Seafloor depth:           -789.444657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.062446 meters
#   Minimum depth: 790.094795 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.364132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.276572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777274;
longitude = -122.095695;
duration = 404;
initialDepth = 765.356173;
finalDepth = 738.276572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.528513660976
#   Actual altitude:          81.528513660976
#   Commanded vehicle depth:  738.276572339024 
#   Seafloor depth:           -819.805086
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.062679 meters
#   Minimum depth: 823.140047 meters looking forward 200.000000 meters along route
#   Maximum depth: 879.163020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 765.356173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776483;
longitude = -122.096256;
duration = 404;
initialDepth = 792.435835;
finalDepth = 765.356173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.528513660976
#   Actual altitude:          81.528513660976
#   Commanded vehicle depth:  765.356172646107 
#   Seafloor depth:           -838.883917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.062914 meters
#   Minimum depth: 847.883605 meters looking forward 200.000000 meters along route
#   Maximum depth: 896.744128 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.435835 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775691;
longitude = -122.096816;
duration = 404;
initialDepth = 819.515561;
finalDepth = 792.435835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.96432461465
#   Actual altitude:          81.96432461465
#   Commanded vehicle depth:  792.43583538535 
#   Seafloor depth:           -874.400160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.063149 meters
#   Minimum depth: 874.000992 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.134769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.515561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774899;
longitude = -122.097376;
duration = 404;
initialDepth = 846.595350;
finalDepth = 819.515561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.96432461465
#   Actual altitude:          81.96432461465
#   Commanded vehicle depth:  819.515561092656 
#   Seafloor depth:           -898.835222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.348198 meters
#   Minimum depth: 900.441001 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.487582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.595350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774108;
longitude = -122.097936;
duration = 405;
initialDepth = 873.751517;
finalDepth = 846.595350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.7718092319826
#   Actual altitude:          86.7718092319826
#   Commanded vehicle depth:  846.595349768017 
#   Seafloor depth:           -933.367159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.778801 meters
#   Minimum depth: 931.076917 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.041116 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.751517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773314;
longitude = -122.098498;
duration = 403;
initialDepth = 900.755115;
finalDepth = 873.751517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.7718092319826
#   Actual altitude:          86.7718092319826
#   Commanded vehicle depth:  873.751517091371 
#   Seafloor depth:           -955.566389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.063851 meters
#   Minimum depth: 958.276966 meters looking forward 200.000000 meters along route
#   Maximum depth: 992.421139 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.755115 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772524;
longitude = -122.099056;
duration = 404;
initialDepth = 926.095114;
finalDepth = 900.755115;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.814871908629
#   Actual altitude:          81.814871908629
#   Commanded vehicle depth:  900.755114951123 
#   Seafloor depth:           -975.613882
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.064085 meters
#   Minimum depth: 976.095114 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.473621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 926.095114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771732;
longitude = -122.099617;
duration = 404;
initialDepth = 939.227665;
finalDepth = 926.095114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.8587670488765
#   Actual altitude:          74.8587670488765
#   Commanded vehicle depth:  926.095114 
#   Seafloor depth:           -991.808164
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.064320 meters
#   Minimum depth: 989.227665 meters looking forward 200.000000 meters along route
#   Maximum depth: 999.032210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.227665 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770941;
longitude = -122.100177;
duration = 404;
initialDepth = 939.227665;
finalDepth = 939.227665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7130500000001
#   Actual altitude:          65.7130500000001
#   Commanded vehicle depth:  939.227665 
#   Seafloor depth:           -994.818996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.064553 meters
#   Minimum depth: 989.227665 meters looking forward 200.000000 meters along route
#   Maximum depth: 1008.975642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.227665 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770149;
longitude = -122.100737;
duration = 404;
initialDepth = 927.533986;
finalDepth = 939.227665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.578425
#   Actual altitude:          59.578425
#   Commanded vehicle depth:  939.227665 
#   Seafloor depth:           -998.806090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.064788 meters
#   Minimum depth: 977.533986 meters looking forward 200.000000 meters along route
#   Maximum depth: 1008.975642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 927.533986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769357;
longitude = -122.101297;
duration = 404;
initialDepth = 907.305325;
finalDepth = 927.533986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.643137
#   Actual altitude:          75.643137
#   Commanded vehicle depth:  927.533986 
#   Seafloor depth:           -1003.177123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.065023 meters
#   Minimum depth: 957.305325 meters looking forward 200.000000 meters along route
#   Maximum depth: 1007.497797 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.305325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768565;
longitude = -122.101857;
duration = 404;
initialDepth = 907.305325;
finalDepth = 907.305325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.643137
#   Actual altitude:          75.643137
#   Commanded vehicle depth:  907.305325 
#   Seafloor depth:           -976.418425
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.065256 meters
#   Minimum depth: 957.305325 meters looking forward 200.000000 meters along route
#   Maximum depth: 984.478275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.305325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767774;
longitude = -122.102417;
duration = 404;
initialDepth = 912.245675;
finalDepth = 907.305325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.1130999999999
#   Actual altitude:          69.1130999999999
#   Commanded vehicle depth:  907.305325 
#   Seafloor depth:           -962.464839
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.065491 meters
#   Minimum depth: 962.245675 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.480216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.245675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766982;
longitude = -122.102977;
duration = 404;
initialDepth = 927.632679;
finalDepth = 912.245675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.031302
#   Actual altitude:          74.031302
#   Commanded vehicle depth:  912.245675 
#   Seafloor depth:           -986.276977
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.065725 meters
#   Minimum depth: 977.632679 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.480216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 927.632679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766190;
longitude = -122.103538;
duration = 404;
initialDepth = 924.483168;
finalDepth = 927.632679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.031302
#   Actual altitude:          74.031302
#   Commanded vehicle depth:  927.632679 
#   Seafloor depth:           -999.944075
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.065960 meters
#   Minimum depth: 974.483168 meters looking forward 200.000000 meters along route
#   Maximum depth: 1014.674801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 924.483168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765399;
longitude = -122.104098;
duration = 404;
initialDepth = 937.539205;
finalDepth = 924.483168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.3113959999999
#   Actual altitude:          72.3113959999999
#   Commanded vehicle depth:  924.483168 
#   Seafloor depth:           -975.947392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.066194 meters
#   Minimum depth: 987.539205 meters looking forward 200.000000 meters along route
#   Maximum depth: 1037.967542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 937.539205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764607;
longitude = -122.104658;
duration = 404;
initialDepth = 964.619810;
finalDepth = 937.539205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.0747819999999
#   Actual altitude:          75.0747819999999
#   Commanded vehicle depth:  937.539205 
#   Seafloor depth:           -1012.613987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.066428 meters
#   Minimum depth: 1015.455981 meters looking forward 200.000000 meters along route
#   Maximum depth: 1064.253801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 964.619810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763815;
longitude = -122.105218;
duration = 404;
initialDepth = 989.681569;
finalDepth = 964.619810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.0747819999999
#   Actual altitude:          75.0747819999999
#   Commanded vehicle depth:  964.619809580639 
#   Seafloor depth:           -1033.144827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.483961 meters
#   Minimum depth: 1039.681569 meters looking forward 200.000000 meters along route
#   Maximum depth: 1104.524494 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 989.681569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763023;
longitude = -122.105778;
duration = 405;
initialDepth = 1016.874114;
finalDepth = 989.681569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.3590649999999
#   Actual altitude:          75.3590649999999
#   Commanded vehicle depth:  989.681569 
#   Seafloor depth:           -1065.040634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.398616 meters
#   Minimum depth: 1068.130665 meters looking forward 200.000000 meters along route
#   Maximum depth: 1122.325908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1016.874114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762228;
longitude = -122.106341;
duration = 429;
initialDepth = 1045.651486;
finalDepth = 1016.874114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       87.8196840910846
#   Actual altitude:          87.8196840910846
#   Commanded vehicle depth:  1016.87411390892 
#   Seafloor depth:           -1104.693798
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 153.723433 meters
#   Minimum depth: 1115.321555 meters looking forward 200.000000 meters along route
#   Maximum depth: 1168.877052 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1045.651486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761387;
longitude = -122.106936;
duration = 614;
# abortOnTimeout    = True; 
initialDepth = 1078.454182;
finalDepth = 1045.651486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       87.8196840910846
#   Actual altitude:          87.8196840910846
#   Commanded vehicle depth:  1045.65148582028 
#   Seafloor depth:           -1118.902832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 93.842524 meters
#   Minimum depth: 1128.454182 meters looking forward 200.000000 meters along route
#   Maximum depth: 1172.537073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1078.454182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760186;
longitude = -122.106077;
duration = 375;
# abortOnTimeout    = True; 
initialDepth = 1075.226603;
finalDepth = 1078.454182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.712444
#   Actual altitude:          89.712444
#   Commanded vehicle depth:  1078.454182 
#   Seafloor depth:           -1168.166626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.551041 meters
#   Minimum depth: 1125.226603 meters looking forward 200.000000 meters along route
#   Maximum depth: 1172.537073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1075.226603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760920;
longitude = -122.105554;
duration = 402;
initialDepth = 1061.328674;
finalDepth = 1075.226603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.712444
#   Actual altitude:          89.712444
#   Commanded vehicle depth:  1075.226603 
#   Seafloor depth:           -1143.782800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.550807 meters
#   Minimum depth: 1111.328674 meters looking forward 200.000000 meters along route
#   Maximum depth: 1146.806393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1061.328674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761706;
longitude = -122.104994;
duration = 402;
initialDepth = 1030.620661;
finalDepth = 1061.328674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.5561969999999
#   Actual altitude:          68.5561969999999
#   Commanded vehicle depth:  1061.328674 
#   Seafloor depth:           -1125.989184
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.550574 meters
#   Minimum depth: 1080.620661 meters looking forward 200.000000 meters along route
#   Maximum depth: 1131.142992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1030.620661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762493;
longitude = -122.104434;
duration = 402;
initialDepth = 998.589842;
finalDepth = 1030.620661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.5242290000001
#   Actual altitude:          75.5242290000001
#   Commanded vehicle depth:  1030.620661 
#   Seafloor depth:           -1106.144890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.550339 meters
#   Minimum depth: 1048.589842 meters looking forward 200.000000 meters along route
#   Maximum depth: 1118.740100 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 998.589842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763279;
longitude = -122.103874;
duration = 402;
initialDepth = 966.072841;
finalDepth = 998.589842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.5583669999999
#   Actual altitude:          77.5583669999999
#   Commanded vehicle depth:  998.589842 
#   Seafloor depth:           -1076.148209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.550105 meters
#   Minimum depth: 1016.072841 meters looking forward 200.000000 meters along route
#   Maximum depth: 1073.034259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 966.072841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764065;
longitude = -122.103314;
duration = 402;
initialDepth = 964.312861;
finalDepth = 966.072841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.940469
#   Actual altitude:          80.940469
#   Commanded vehicle depth:  966.072841 
#   Seafloor depth:           -1047.013310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.549871 meters
#   Minimum depth: 1014.312861 meters looking forward 200.000000 meters along route
#   Maximum depth: 1046.407705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 964.312861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764852;
longitude = -122.102753;
duration = 402;
initialDepth = 964.312861;
finalDepth = 964.312861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.940469
#   Actual altitude:          80.940469
#   Commanded vehicle depth:  964.312861 
#   Seafloor depth:           -1019.609367
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.549637 meters
#   Minimum depth: 1014.312861 meters looking forward 200.000000 meters along route
#   Maximum depth: 1029.650347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 964.312861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765638;
longitude = -122.102193;
duration = 402;
initialDepth = 959.590713;
finalDepth = 964.312861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.8624779999999
#   Actual altitude:          60.8624779999999
#   Commanded vehicle depth:  964.312861 
#   Seafloor depth:           -1025.175339
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.549402 meters
#   Minimum depth: 1009.590713 meters looking forward 200.000000 meters along route
#   Maximum depth: 1029.650347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 959.590713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766425;
longitude = -122.101633;
duration = 402;
initialDepth = 959.590713;
finalDepth = 959.590713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.8624779999999
#   Actual altitude:          60.8624779999999
#   Commanded vehicle depth:  959.590713 
#   Seafloor depth:           -1018.766152
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.549169 meters
#   Minimum depth: 1009.590713 meters looking forward 200.000000 meters along route
#   Maximum depth: 1043.593226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 959.590713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767211;
longitude = -122.101073;
duration = 402;
initialDepth = 965.238838;
finalDepth = 959.590713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.175439
#   Actual altitude:          59.175439
#   Commanded vehicle depth:  959.590713 
#   Seafloor depth:           -1017.707484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.548935 meters
#   Minimum depth: 1015.238838 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.928229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 965.238838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767997;
longitude = -122.100513;
duration = 402;
initialDepth = 978.044530;
finalDepth = 965.238838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3027939999999
#   Actual altitude:          78.3027939999999
#   Commanded vehicle depth:  965.238838 
#   Seafloor depth:           -1043.541632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.548701 meters
#   Minimum depth: 1028.044530 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.928229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 978.044530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768784;
longitude = -122.099953;
duration = 402;
initialDepth = 978.030558;
finalDepth = 978.044530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3027939999999
#   Actual altitude:          78.3027939999999
#   Commanded vehicle depth:  978.04453 
#   Seafloor depth:           -1032.400598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.548467 meters
#   Minimum depth: 1028.030558 meters looking forward 200.000000 meters along route
#   Maximum depth: 1040.274753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 978.030558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769570;
longitude = -122.099392;
duration = 402;
initialDepth = 962.724514;
finalDepth = 978.030558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2158650000001
#   Actual altitude:          58.2158650000001
#   Commanded vehicle depth:  978.030558 
#   Seafloor depth:           -1036.246423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.548232 meters
#   Minimum depth: 1012.724514 meters looking forward 200.000000 meters along route
#   Maximum depth: 1035.357555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 962.724514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770356;
longitude = -122.098832;
duration = 402;
initialDepth = 939.562236;
finalDepth = 962.724514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.3571910000001
#   Actual altitude:          65.3571910000001
#   Commanded vehicle depth:  962.724514 
#   Seafloor depth:           -1028.081705
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.547999 meters
#   Minimum depth: 989.562236 meters looking forward 200.000000 meters along route
#   Maximum depth: 1027.381685 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.562236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771143;
longitude = -122.098272;
duration = 402;
initialDepth = 898.599564;
finalDepth = 939.562236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.262604
#   Actual altitude:          69.262604
#   Commanded vehicle depth:  939.562236 
#   Seafloor depth:           -1008.824840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.547765 meters
#   Minimum depth: 948.599564 meters looking forward 200.000000 meters along route
#   Maximum depth: 1004.249175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.599564 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771929;
longitude = -122.097712;
duration = 402;
initialDepth = 860.631266;
finalDepth = 898.599564;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.883651
#   Actual altitude:          87.883651
#   Commanded vehicle depth:  898.599564 
#   Seafloor depth:           -986.483215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.547530 meters
#   Minimum depth: 910.631266 meters looking forward 200.000000 meters along route
#   Maximum depth: 984.456833 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 860.631266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772716;
longitude = -122.097152;
duration = 402;
initialDepth = 838.923683;
finalDepth = 860.631266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.883651
#   Actual altitude:          87.883651
#   Commanded vehicle depth:  860.631266 
#   Seafloor depth:           -948.014910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.547297 meters
#   Minimum depth: 888.923683 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.171040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.923683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773502;
longitude = -122.096592;
duration = 402;
initialDepth = 828.465990;
finalDepth = 838.923683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.383644
#   Actual altitude:          87.383644
#   Commanded vehicle depth:  838.923683 
#   Seafloor depth:           -910.070669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.547063 meters
#   Minimum depth: 878.465990 meters looking forward 200.000000 meters along route
#   Maximum depth: 908.168249 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 828.465990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774288;
longitude = -122.096032;
duration = 402;
initialDepth = 810.344845;
finalDepth = 828.465990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.146986
#   Actual altitude:          71.146986
#   Commanded vehicle depth:  828.46599 
#   Seafloor depth:           -891.098235
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.546828 meters
#   Minimum depth: 860.344845 meters looking forward 200.000000 meters along route
#   Maximum depth: 896.523936 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.344845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775075;
longitude = -122.095471;
duration = 402;
initialDepth = 804.069281;
finalDepth = 810.344845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.274341
#   Actual altitude:          68.274341
#   Commanded vehicle depth:  810.344845 
#   Seafloor depth:           -878.619186
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.650287 meters
#   Minimum depth: 854.069281 meters looking forward 200.000000 meters along route
#   Maximum depth: 882.437077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.069281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775861;
longitude = -122.094911;
duration = 402;
initialDepth = 756.843157;
finalDepth = 804.069281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.274341
#   Actual altitude:          68.274341
#   Commanded vehicle depth:  804.069281 
#   Seafloor depth:           -865.813565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.442669 meters
#   Minimum depth: 806.843157 meters looking forward 200.000000 meters along route
#   Maximum depth: 877.692182 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 756.843157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776648;
longitude = -122.094350;
duration = 401;
initialDepth = 728.307068;
finalDepth = 756.843157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.344464
#   Actual altitude:          98.344464
#   Commanded vehicle depth:  756.843157 
#   Seafloor depth:           -855.187621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.546126 meters
#   Minimum depth: 778.307068 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.271621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 728.307068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777434;
longitude = -122.093791;
duration = 402;
initialDepth = 719.098595;
finalDepth = 728.307068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.344464
#   Actual altitude:          98.344464
#   Commanded vehicle depth:  728.307068 
#   Seafloor depth:           -802.995369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.545893 meters
#   Minimum depth: 769.098595 meters looking forward 200.000000 meters along route
#   Maximum depth: 802.506682 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.098595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778220;
longitude = -122.093231;
duration = 402;
initialDepth = 719.098595;
finalDepth = 719.098595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.688301
#   Actual altitude:          74.688301
#   Commanded vehicle depth:  719.098595 
#   Seafloor depth:           -779.458096
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.545658 meters
#   Minimum depth: 769.098595 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.597114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.098595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779006;
longitude = -122.092671;
duration = 402;
initialDepth = 725.530376;
finalDepth = 719.098595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.3595009999999
#   Actual altitude:          60.3595009999999
#   Commanded vehicle depth:  719.098595 
#   Seafloor depth:           -769.929915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.545425 meters
#   Minimum depth: 775.530376 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.597114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.530376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779793;
longitude = -122.092110;
duration = 402;
initialDepth = 705.015397;
finalDepth = 725.530376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.7483659999999
#   Actual altitude:          82.7483659999999
#   Commanded vehicle depth:  725.530376 
#   Seafloor depth:           -808.278742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.545191 meters
#   Minimum depth: 755.015397 meters looking forward 200.000000 meters along route
#   Maximum depth: 814.063906 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.015397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780579;
longitude = -122.091550;
duration = 402;
initialDepth = 690.574862;
finalDepth = 705.015397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.0437909999999
#   Actual altitude:          83.0437909999999
#   Commanded vehicle depth:  705.015397 
#   Seafloor depth:           -788.059188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.544956 meters
#   Minimum depth: 740.574862 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.292393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.574862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781366;
longitude = -122.090990;
duration = 402;
initialDepth = 677.443593;
finalDepth = 690.574862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.0437909999999
#   Actual altitude:          83.0437909999999
#   Commanded vehicle depth:  690.574862 
#   Seafloor depth:           -767.436891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.544723 meters
#   Minimum depth: 727.443593 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.709693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 677.443593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782152;
longitude = -122.090430;
duration = 402;
initialDepth = 677.443593;
finalDepth = 677.443593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.8620289999999
#   Actual altitude:          76.8620289999999
#   Commanded vehicle depth:  677.443593 
#   Seafloor depth:           -740.287288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.544489 meters
#   Minimum depth: 727.443593 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.813773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 677.443593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782938;
longitude = -122.089870;
duration = 402;
initialDepth = 698.326724;
finalDepth = 677.443593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.14311
#   Actual altitude:          70.14311
#   Commanded vehicle depth:  677.443593 
#   Seafloor depth:           -747.586703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.544255 meters
#   Minimum depth: 748.326724 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.406131 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 698.326724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783725;
longitude = -122.089310;
duration = 402;
initialDepth = 647.777133;
finalDepth = 698.326724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.819629
#   Actual altitude:          76.819629
#   Commanded vehicle depth:  698.326724 
#   Seafloor depth:           -775.146353
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.878541 meters
#   Minimum depth: 697.777133 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.406131 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 647.777133 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784511;
longitude = -122.088749;
duration = 403;
initialDepth = 615.943649;
finalDepth = 647.777133;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.594215
#   Actual altitude:          100
#   Commanded vehicle depth:  647.777133 
#   Seafloor depth:           -750.371348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.209266 meters
#   Minimum depth: 665.943649 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.563256 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 615.943649 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785300;
longitude = -122.088187;
duration = 400;
initialDepth = 605.877588;
finalDepth = 615.943649;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.594215
#   Actual altitude:          100
#   Commanded vehicle depth:  615.943649 
#   Seafloor depth:           -697.711321
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.543553 meters
#   Minimum depth: 655.877588 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.254157 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 605.877588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786084;
longitude = -122.087629;
duration = 402;
initialDepth = 604.274579;
finalDepth = 605.877588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.7676719999999
#   Actual altitude:          81.7676719999999
#   Commanded vehicle depth:  605.877588 
#   Seafloor depth:           -665.006004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.543319 meters
#   Minimum depth: 654.274579 meters looking forward 200.000000 meters along route
#   Maximum depth: 667.981300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.274579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786870;
longitude = -122.087069;
duration = 402;
initialDepth = 588.511639;
finalDepth = 604.274579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.128416
#   Actual altitude:          59.128416
#   Commanded vehicle depth:  604.274579 
#   Seafloor depth:           -659.950412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.543085 meters
#   Minimum depth: 638.511639 meters looking forward 200.000000 meters along route
#   Maximum depth: 667.981300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 588.511639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787657;
longitude = -122.086509;
duration = 402;
initialDepth = 571.078048;
finalDepth = 588.511639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.971136
#   Actual altitude:          73.971136
#   Commanded vehicle depth:  588.511639 
#   Seafloor depth:           -662.482775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.542851 meters
#   Minimum depth: 621.078048 meters looking forward 200.000000 meters along route
#   Maximum depth: 662.617735 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.078048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788443;
longitude = -122.085949;
duration = 402;
initialDepth = 560.235880;
finalDepth = 571.078048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.971136
#   Actual altitude:          73.971136
#   Commanded vehicle depth:  571.078048 
#   Seafloor depth:           -643.144935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.542617 meters
#   Minimum depth: 610.235880 meters looking forward 200.000000 meters along route
#   Maximum depth: 643.108348 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 560.235880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789229;
longitude = -122.085389;
duration = 402;
initialDepth = 559.592823;
finalDepth = 560.235880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.0668870000001
#   Actual altitude:          72.0668870000001
#   Commanded vehicle depth:  560.23588 
#   Seafloor depth:           -619.917445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.542383 meters
#   Minimum depth: 609.592823 meters looking forward 200.000000 meters along route
#   Maximum depth: 631.809560 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.592823 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790016;
longitude = -122.084828;
duration = 402;
initialDepth = 560.281897;
finalDepth = 559.592823;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6815650000001
#   Actual altitude:          59.6815650000001
#   Commanded vehicle depth:  559.592823 
#   Seafloor depth:           -609.592823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.542149 meters
#   Minimum depth: 610.281897 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.669150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 560.281897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790802;
longitude = -122.084268;
duration = 402;
initialDepth = 573.645890;
finalDepth = 560.281897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.391795
#   Actual altitude:          71.391795
#   Commanded vehicle depth:  560.281897 
#   Seafloor depth:           -631.673692
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.541915 meters
#   Minimum depth: 623.645890 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.207908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 573.645890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791588;
longitude = -122.083708;
duration = 402;
initialDepth = 596.140886;
finalDepth = 573.645890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.986625
#   Actual altitude:          83.986625
#   Commanded vehicle depth:  573.64589 
#   Seafloor depth:           -657.632515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.541681 meters
#   Minimum depth: 646.140886 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.207908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.140886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792375;
longitude = -122.083148;
duration = 402;
initialDepth = 596.140886;
finalDepth = 596.140886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.986625
#   Actual altitude:          83.986625
#   Commanded vehicle depth:  596.140886 
#   Seafloor depth:           -679.849114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.541448 meters
#   Minimum depth: 646.140886 meters looking forward 200.000000 meters along route
#   Maximum depth: 682.116164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.140886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793161;
longitude = -122.082588;
duration = 402;
initialDepth = 608.049863;
finalDepth = 596.140886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.708228
#   Actual altitude:          83.708228
#   Commanded vehicle depth:  596.140886 
#   Seafloor depth:           -653.562633
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.541213 meters
#   Minimum depth: 658.049863 meters looking forward 200.000000 meters along route
#   Maximum depth: 682.116164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 608.049863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793948;
longitude = -122.082028;
duration = 402;
initialDepth = 586.839232;
finalDepth = 608.049863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.251075
#   Actual altitude:          72.251075
#   Commanded vehicle depth:  608.049863 
#   Seafloor depth:           -680.300938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.540980 meters
#   Minimum depth: 636.839232 meters looking forward 200.000000 meters along route
#   Maximum depth: 679.787186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 586.839232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794734;
longitude = -122.081467;
duration = 402;
initialDepth = 541.718610;
finalDepth = 586.839232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.5672179999999
#   Actual altitude:          74.5672179999999
#   Commanded vehicle depth:  586.839232 
#   Seafloor depth:           -661.406450
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.540745 meters
#   Minimum depth: 591.718610 meters looking forward 200.000000 meters along route
#   Maximum depth: 660.314536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.718610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795520;
longitude = -122.080907;
duration = 402;
initialDepth = 506.323855;
finalDepth = 541.718610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.392788
#   Actual altitude:          93.392788
#   Commanded vehicle depth:  541.71861 
#   Seafloor depth:           -635.111398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.540512 meters
#   Minimum depth: 556.323855 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.109547 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.323855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796307;
longitude = -122.080347;
duration = 402;
initialDepth = 462.552026;
finalDepth = 506.323855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.392788
#   Actual altitude:          93.392788
#   Commanded vehicle depth:  506.323855 
#   Seafloor depth:           -590.846929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.540277 meters
#   Minimum depth: 512.552026 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.212484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.552026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797093;
longitude = -122.079787;
duration = 402;
initialDepth = 426.365657;
finalDepth = 462.552026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.1447810000001
#   Actual altitude:          88.1447810000001
#   Commanded vehicle depth:  462.552026 
#   Seafloor depth:           -550.696807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.540044 meters
#   Minimum depth: 476.365657 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.254471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.365657 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797879;
longitude = -122.079227;
duration = 402;
initialDepth = 395.907847;
finalDepth = 426.365657;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.1447810000001
#   Actual altitude:          88.1447810000001
#   Commanded vehicle depth:  426.365657 
#   Seafloor depth:           -512.969046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.539810 meters
#   Minimum depth: 445.907847 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.928231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 395.907847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798666;
longitude = -122.078667;
duration = 402;
initialDepth = 357.704785;
finalDepth = 395.907847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.603389
#   Actual altitude:          86.603389
#   Commanded vehicle depth:  395.907847 
#   Seafloor depth:           -475.041439
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 107.241697 meters
#   Minimum depth: 407.704785 meters looking forward 200.000000 meters along route
#   Maximum depth: 469.073698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 357.704785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799452;
longitude = -122.078106;
duration = 428;
initialDepth = 352.690239;
finalDepth = 357.704785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       88.208221
#   Actual altitude:          88.208221
#   Commanded vehicle depth:  357.704785 
#   Seafloor depth:           -445.913006
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 145.184760 meters
#   Minimum depth: 402.690239 meters looking forward 200.000000 meters along route
#   Maximum depth: 421.848586 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 352.690239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800291;
longitude = -122.077509;
duration = 580;
# abortOnTimeout    = True; 
initialDepth = 366.075392;
finalDepth = 352.690239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       88.208221
#   Actual altitude:          88.208221
#   Commanded vehicle depth:  352.690239 
#   Seafloor depth:           -402.690239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 134.440488 meters
#   Minimum depth: 416.075392 meters looking forward 200.000000 meters along route
#   Maximum depth: 479.132959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 366.075392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799600;
longitude = -122.076127;
duration = 537;
# abortOnTimeout    = True; 
initialDepth = 393.808903;
finalDepth = 366.075392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.41926
#   Actual altitude:          53.41926
#   Commanded vehicle depth:  366.075392 
#   Seafloor depth:           -419.494652
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.793482 meters
#   Minimum depth: 443.808903 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.807561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.808903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798548;
longitude = -122.076874;
duration = 403;
initialDepth = 420.816435;
finalDepth = 393.808903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.348411
#   Actual altitude:          85.348411
#   Commanded vehicle depth:  393.808903 
#   Seafloor depth:           -479.157314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.793716 meters
#   Minimum depth: 481.151157 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.164270 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 420.816435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797759;
longitude = -122.077434;
duration = 403;
initialDepth = 447.824029;
finalDepth = 420.816435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.3558323782216
#   Actual altitude:          93.3558323782216
#   Commanded vehicle depth:  420.816434621778 
#   Seafloor depth:           -514.172267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.793950 meters
#   Minimum depth: 514.604048 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.378049 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 447.824029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796970;
longitude = -122.077994;
duration = 403;
initialDepth = 474.831686;
finalDepth = 447.824029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.231500056333
#   Actual altitude:          100
#   Commanded vehicle depth:  447.824028943667 
#   Seafloor depth:           -553.055529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.794184 meters
#   Minimum depth: 554.044058 meters looking forward 200.000000 meters along route
#   Maximum depth: 617.473301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 474.831686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796181;
longitude = -122.078555;
duration = 403;
initialDepth = 501.839406;
finalDepth = 474.831686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.225999034336
#   Actual altitude:          100
#   Commanded vehicle depth:  474.831685965664 
#   Seafloor depth:           -584.057685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.794418 meters
#   Minimum depth: 585.161218 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.038892 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.839406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795392;
longitude = -122.079115;
duration = 403;
initialDepth = 528.847188;
finalDepth = 501.839406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.590405312228
#   Actual altitude:          100
#   Commanded vehicle depth:  501.839405687772 
#   Seafloor depth:           -617.429811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.794652 meters
#   Minimum depth: 613.135034 meters looking forward 200.000000 meters along route
#   Maximum depth: 669.996892 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 528.847188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794603;
longitude = -122.079675;
duration = 403;
initialDepth = 555.855033;
finalDepth = 528.847188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.590405312228
#   Actual altitude:          100
#   Commanded vehicle depth:  528.847188109991 
#   Seafloor depth:           -636.108965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.794886 meters
#   Minimum depth: 638.592319 meters looking forward 200.000000 meters along route
#   Maximum depth: 704.983947 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.855033 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793814;
longitude = -122.080235;
duration = 403;
initialDepth = 582.862941;
finalDepth = 555.855033;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.007656767682
#   Actual altitude:          100
#   Commanded vehicle depth:  555.855033232318 
#   Seafloor depth:           -672.862690
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.795120 meters
#   Minimum depth: 679.529788 meters looking forward 200.000000 meters along route
#   Maximum depth: 718.531328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 582.862941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793025;
longitude = -122.080795;
duration = 403;
initialDepth = 609.870912;
finalDepth = 582.862941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       122.923514945243
#   Actual altitude:          100
#   Commanded vehicle depth:  582.862941054757 
#   Seafloor depth:           -705.786456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.795354 meters
#   Minimum depth: 700.547291 meters looking forward 200.000000 meters along route
#   Maximum depth: 725.842737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 609.870912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792236;
longitude = -122.081355;
duration = 403;
initialDepth = 636.878945;
finalDepth = 609.870912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       122.923514945243
#   Actual altitude:          100
#   Commanded vehicle depth:  609.870911577303 
#   Seafloor depth:           -710.643381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.795588 meters
#   Minimum depth: 699.658432 meters looking forward 200.000000 meters along route
#   Maximum depth: 725.842737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 636.878945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791447;
longitude = -122.081916;
duration = 403;
initialDepth = 617.594924;
finalDepth = 636.878945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.772469422697
#   Actual altitude:          100
#   Commanded vehicle depth:  636.878944799961 
#   Seafloor depth:           -715.342343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.795822 meters
#   Minimum depth: 667.594924 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.830625 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 617.594924 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790658;
longitude = -122.082476;
duration = 403;
initialDepth = 604.871920;
finalDepth = 617.594924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.419852
#   Actual altitude:          79.419852
#   Commanded vehicle depth:  617.594924 
#   Seafloor depth:           -697.014776
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.796056 meters
#   Minimum depth: 654.871920 meters looking forward 200.000000 meters along route
#   Maximum depth: 698.850419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.871920 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789869;
longitude = -122.083036;
duration = 403;
initialDepth = 604.089336;
finalDepth = 604.871920;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.419852
#   Actual altitude:          79.419852
#   Commanded vehicle depth:  604.87192 
#   Seafloor depth:           -667.413155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.796290 meters
#   Minimum depth: 654.089336 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.119296 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.089336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789080;
longitude = -122.083596;
duration = 403;
initialDepth = 604.089336;
finalDepth = 604.089336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5412349999999
#   Actual altitude:          62.5412349999999
#   Commanded vehicle depth:  604.089336 
#   Seafloor depth:           -657.530807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.796525 meters
#   Minimum depth: 654.089336 meters looking forward 200.000000 meters along route
#   Maximum depth: 671.732852 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.089336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788291;
longitude = -122.084156;
duration = 403;
initialDepth = 607.132619;
finalDepth = 604.089336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.441471
#   Actual altitude:          53.441471
#   Commanded vehicle depth:  604.089336 
#   Seafloor depth:           -657.430740
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.796758 meters
#   Minimum depth: 657.132619 meters looking forward 200.000000 meters along route
#   Maximum depth: 711.852714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 607.132619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787502;
longitude = -122.084716;
duration = 403;
initialDepth = 625.132734;
finalDepth = 607.132619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.511977
#   Actual altitude:          66.511977
#   Commanded vehicle depth:  607.132619 
#   Seafloor depth:           -673.644596
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.796992 meters
#   Minimum depth: 675.132734 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.027613 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 625.132734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786713;
longitude = -122.085277;
duration = 403;
initialDepth = 652.141206;
finalDepth = 625.132734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.084645
#   Actual altitude:          87.084645
#   Commanded vehicle depth:  625.132734 
#   Seafloor depth:           -712.217379
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.797227 meters
#   Minimum depth: 712.955528 meters looking forward 200.000000 meters along route
#   Maximum depth: 740.359307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 652.141206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785924;
longitude = -122.085837;
duration = 403;
initialDepth = 677.055622;
finalDepth = 652.141206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.084645
#   Actual altitude:          87.084645
#   Commanded vehicle depth:  652.141206123426 
#   Seafloor depth:           -734.548925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.797460 meters
#   Minimum depth: 727.055622 meters looking forward 200.000000 meters along route
#   Maximum depth: 753.570132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 677.055622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785135;
longitude = -122.086397;
duration = 403;
initialDepth = 687.203070;
finalDepth = 677.055622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.4077188765742
#   Actual altitude:          82.4077188765742
#   Commanded vehicle depth:  677.055622 
#   Seafloor depth:           -736.669065
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.797695 meters
#   Minimum depth: 737.203070 meters looking forward 200.000000 meters along route
#   Maximum depth: 792.561305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.203070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784346;
longitude = -122.086957;
duration = 403;
initialDepth = 696.271207;
finalDepth = 687.203070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.565192
#   Actual altitude:          60.565192
#   Commanded vehicle depth:  687.20307 
#   Seafloor depth:           -747.768262
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.797928 meters
#   Minimum depth: 746.271207 meters looking forward 200.000000 meters along route
#   Maximum depth: 812.872410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.271207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783557;
longitude = -122.087517;
duration = 403;
initialDepth = 723.279930;
finalDepth = 696.271207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.749614
#   Actual altitude:          96.749614
#   Commanded vehicle depth:  696.271207 
#   Seafloor depth:           -793.020821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.798163 meters
#   Minimum depth: 783.872578 meters looking forward 200.000000 meters along route
#   Maximum depth: 812.872410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.279930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782768;
longitude = -122.088077;
duration = 403;
initialDepth = 720.733676;
finalDepth = 723.279930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.749614
#   Actual altitude:          96.749614
#   Commanded vehicle depth:  723.279929923866 
#   Seafloor depth:           -809.875540
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.798397 meters
#   Minimum depth: 770.733676 meters looking forward 200.000000 meters along route
#   Maximum depth: 808.269436 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.733676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781979;
longitude = -122.088637;
duration = 403;
initialDepth = 720.733676;
finalDepth = 720.733676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.5956100761335
#   Actual altitude:          86.5956100761335
#   Commanded vehicle depth:  720.733676 
#   Seafloor depth:           -784.945750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.798631 meters
#   Minimum depth: 770.733676 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.708307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.733676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781190;
longitude = -122.089198;
duration = 403;
initialDepth = 741.452096;
finalDepth = 720.733676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.905062
#   Actual altitude:          68.905062
#   Commanded vehicle depth:  720.733676 
#   Seafloor depth:           -789.638738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.798865 meters
#   Minimum depth: 791.452096 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.518920 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 741.452096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780401;
longitude = -122.089758;
duration = 403;
initialDepth = 759.478914;
finalDepth = 741.452096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.905062
#   Actual altitude:          68.905062
#   Commanded vehicle depth:  741.452096 
#   Seafloor depth:           -808.204445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.799099 meters
#   Minimum depth: 809.478914 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.404109 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 759.478914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779612;
longitude = -122.090318;
duration = 403;
initialDepth = 778.848337;
finalDepth = 759.478914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.15846
#   Actual altitude:          82.15846
#   Commanded vehicle depth:  759.478914 
#   Seafloor depth:           -841.637374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.799333 meters
#   Minimum depth: 828.848337 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.404109 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 778.848337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778822;
longitude = -122.090878;
duration = 403;
initialDepth = 767.423414;
finalDepth = 778.848337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.15846
#   Actual altitude:          82.15846
#   Commanded vehicle depth:  778.848337 
#   Seafloor depth:           -845.328459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.799567 meters
#   Minimum depth: 817.423414 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.924584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 767.423414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778033;
longitude = -122.091438;
duration = 403;
initialDepth = 767.423414;
finalDepth = 767.423414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4801219999999
#   Actual altitude:          66.4801219999999
#   Commanded vehicle depth:  767.423414 
#   Seafloor depth:           -826.690915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.799801 meters
#   Minimum depth: 817.423414 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.337685 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 767.423414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777244;
longitude = -122.091998;
duration = 403;
initialDepth = 768.120050;
finalDepth = 767.423414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.267501
#   Actual altitude:          59.267501
#   Commanded vehicle depth:  767.423414 
#   Seafloor depth:           -819.089377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.800035 meters
#   Minimum depth: 818.120050 meters looking forward 200.000000 meters along route
#   Maximum depth: 867.619081 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 768.120050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776455;
longitude = -122.092559;
duration = 403;
initialDepth = 790.881161;
finalDepth = 768.120050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.674582
#   Actual altitude:          70.674582
#   Commanded vehicle depth:  768.12005 
#   Seafloor depth:           -838.794632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.800270 meters
#   Minimum depth: 840.881161 meters looking forward 200.000000 meters along route
#   Maximum depth: 911.863569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.881161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775666;
longitude = -122.093119;
duration = 403;
initialDepth = 817.890511;
finalDepth = 790.881161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.247177
#   Actual altitude:          87.247177
#   Commanded vehicle depth:  790.881161 
#   Seafloor depth:           -878.128338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.800503 meters
#   Minimum depth: 877.492742 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.197204 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.890511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774877;
longitude = -122.093679;
duration = 403;
initialDepth = 844.899924;
finalDepth = 817.890511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.7741465391362
#   Actual altitude:          95.7741465391362
#   Commanded vehicle depth:  817.890511460864 
#   Seafloor depth:           -913.664658
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.800738 meters
#   Minimum depth: 917.522073 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.855292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.899924 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774088;
longitude = -122.094239;
duration = 403;
initialDepth = 871.909400;
finalDepth = 844.899924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.22417764611
#   Actual altitude:          100
#   Commanded vehicle depth:  844.89992435389 
#   Seafloor depth:           -949.124102
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.800972 meters
#   Minimum depth: 947.485077 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.855292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.909400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773299;
longitude = -122.094799;
duration = 403;
initialDepth = 894.018263;
finalDepth = 871.909400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.22417764611
#   Actual altitude:          100
#   Commanded vehicle depth:  871.909400214973 
#   Seafloor depth:           -962.738944
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.801205 meters
#   Minimum depth: 944.018263 meters looking forward 200.000000 meters along route
#   Maximum depth: 980.396938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.018263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772510;
longitude = -122.095359;
duration = 403;
initialDepth = 894.018263;
finalDepth = 894.018263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.8295437850265
#   Actual altitude:          90.8295437850265
#   Commanded vehicle depth:  894.018263 
#   Seafloor depth:           -951.865586
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.801440 meters
#   Minimum depth: 944.018263 meters looking forward 200.000000 meters along route
#   Maximum depth: 1010.082163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.018263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771721;
longitude = -122.095920;
duration = 403;
initialDepth = 921.027927;
finalDepth = 894.018263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.918142
#   Actual altitude:          91.918142
#   Commanded vehicle depth:  894.018263 
#   Seafloor depth:           -985.936405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.801674 meters
#   Minimum depth: 988.619139 meters looking forward 200.000000 meters along route
#   Maximum depth: 1030.215031 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 921.027927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770932;
longitude = -122.096480;
duration = 403;
initialDepth = 948.037654;
finalDepth = 921.027927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.918142
#   Actual altitude:          91.918142
#   Commanded vehicle depth:  921.027926961412 
#   Seafloor depth:           -1011.162729
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.801908 meters
#   Minimum depth: 1008.269065 meters looking forward 200.000000 meters along route
#   Maximum depth: 1036.454860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 948.037654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770143;
longitude = -122.097040;
duration = 403;
initialDepth = 975.047443;
finalDepth = 948.037654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.1348020385876
#   Actual altitude:          90.1348020385876
#   Commanded vehicle depth:  948.037653622936 
#   Seafloor depth:           -1030.448597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.802143 meters
#   Minimum depth: 1031.601520 meters looking forward 200.000000 meters along route
#   Maximum depth: 1065.223262 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 975.047443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769354;
longitude = -122.097600;
duration = 403;
initialDepth = 989.149567;
finalDepth = 975.047443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.4109433770637
#   Actual altitude:          82.4109433770637
#   Commanded vehicle depth:  975.04744298457 
#   Seafloor depth:           -1036.122334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.802376 meters
#   Minimum depth: 1039.149567 meters looking forward 200.000000 meters along route
#   Maximum depth: 1083.681727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 989.149567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768565;
longitude = -122.098160;
duration = 403;
initialDepth = 1016.159482;
finalDepth = 989.149567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.817648
#   Actual altitude:          76.817648
#   Commanded vehicle depth:  989.149567 
#   Seafloor depth:           -1065.967215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.802611 meters
#   Minimum depth: 1066.557751 meters looking forward 200.000000 meters along route
#   Maximum depth: 1097.420061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1016.159482 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767776;
longitude = -122.098720;
duration = 403;
initialDepth = 1019.436795;
finalDepth = 1016.159482;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.817648
#   Actual altitude:          76.817648
#   Commanded vehicle depth:  1016.15948176185 
#   Seafloor depth:           -1086.875251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 101.394796 meters
#   Minimum depth: 1069.436795 meters looking forward 200.000000 meters along route
#   Maximum depth: 1097.420061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1019.436795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766987;
longitude = -122.099280;
duration = 405;
initialDepth = 1016.832615;
finalDepth = 1019.436795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.9936169999999
#   Actual altitude:          76.9936169999999
#   Commanded vehicle depth:  1019.436795 
#   Seafloor depth:           -1096.430412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.211127 meters
#   Minimum depth: 1066.832615 meters looking forward 200.000000 meters along route
#   Maximum depth: 1094.422374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1016.832615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766194;
longitude = -122.099844;
duration = 400;
initialDepth = 1016.832615;
finalDepth = 1016.832615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.9936169999999
#   Actual altitude:          76.9936169999999
#   Commanded vehicle depth:  1016.832615 
#   Seafloor depth:           -1069.347509
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.803313 meters
#   Minimum depth: 1066.832615 meters looking forward 200.000000 meters along route
#   Maximum depth: 1094.774756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1016.832615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765409;
longitude = -122.100401;
duration = 403;
initialDepth = 1006.211201;
finalDepth = 1016.832615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.318728
#   Actual altitude:          77.318728
#   Commanded vehicle depth:  1016.832615 
#   Seafloor depth:           -1094.151343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.803547 meters
#   Minimum depth: 1056.211201 meters looking forward 200.000000 meters along route
#   Maximum depth: 1094.774756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1006.211201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764620;
longitude = -122.100961;
duration = 403;
initialDepth = 1004.918647;
finalDepth = 1006.211201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.318728
#   Actual altitude:          77.318728
#   Commanded vehicle depth:  1006.211201 
#   Seafloor depth:           -1074.635702
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 101.181826 meters
#   Minimum depth: 1054.918647 meters looking forward 200.000000 meters along route
#   Maximum depth: 1077.976612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1004.918647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763831;
longitude = -122.101521;
duration = 404;
initialDepth = 1004.918647;
finalDepth = 1004.918647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.424501
#   Actual altitude:          68.424501
#   Commanded vehicle depth:  1004.918647 
#   Seafloor depth:           -1056.357426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.425971 meters
#   Minimum depth: 1054.918647 meters looking forward 200.000000 meters along route
#   Maximum depth: 1102.385985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1004.918647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763039;
longitude = -122.102083;
duration = 401;
initialDepth = 1025.320966;
finalDepth = 1004.918647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.009501
#   Actual altitude:          68.009501
#   Commanded vehicle depth:  1004.918647 
#   Seafloor depth:           -1072.928148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.804249 meters
#   Minimum depth: 1075.320966 meters looking forward 200.000000 meters along route
#   Maximum depth: 1135.420920 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1025.320966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762253;
longitude = -122.102641;
duration = 403;
initialDepth = 1052.331383;
finalDepth = 1025.320966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.9989949999999
#   Actual altitude:          80.9989949999999
#   Commanded vehicle depth:  1025.320966 
#   Seafloor depth:           -1106.319961
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.804484 meters
#   Minimum depth: 1107.838607 meters looking forward 200.000000 meters along route
#   Maximum depth: 1170.117418 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1052.331383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761464;
longitude = -122.103202;
duration = 403;
initialDepth = 1079.341862;
finalDepth = 1052.331383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.9940563693183
#   Actual altitude:          84.9940563693183
#   Commanded vehicle depth:  1052.33138263068 
#   Seafloor depth:           -1137.325439
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.968851 meters
#   Minimum depth: 1139.654991 meters looking forward 200.000000 meters along route
#   Maximum depth: 1189.802832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1079.341862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760675;
longitude = -122.103762;
duration = 403;
initialDepth = 1106.396384;
finalDepth = 1079.341862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.9722367705776
#   Actual altitude:          91.9722367705776
#   Commanded vehicle depth:  1079.34186222942 
#   Seafloor depth:           -1171.314099
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.630090 meters
#   Minimum depth: 1173.323653 meters looking forward 200.000000 meters along route
#   Maximum depth: 1192.970709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1106.396384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759885;
longitude = -122.104323;
duration = 414;
initialDepth = 1081.661873;
finalDepth = 1106.396384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.9722367705776
#   Actual altitude:          91.9722367705776
#   Commanded vehicle depth:  1106.39638383229 
#   Seafloor depth:           -1189.786057
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 111.279629 meters
#   Minimum depth: 1131.661873 meters looking forward 200.000000 meters along route
#   Maximum depth: 1192.970709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1081.661873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759074;
longitude = -122.104899;
duration = 445;
initialDepth = 1080.121841;
finalDepth = 1081.661873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       93.8624990000001
#   Actual altitude:          93.8624990000001
#   Commanded vehicle depth:  1081.661873 
#   Seafloor depth:           -1175.524372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 82.011737 meters
#   Minimum depth: 1130.121841 meters looking forward 200.000000 meters along route
#   Maximum depth: 1176.514987 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1080.121841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758203;
longitude = -122.105517;
duration = 328;
# abortOnTimeout    = True; 
initialDepth = 1080.121841;
finalDepth = 1080.121841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.8624990000001
#   Actual altitude:          93.8624990000001
#   Commanded vehicle depth:  1080.121841 
#   Seafloor depth:           -1131.085938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 104.310638 meters
#   Minimum depth: 1130.121841 meters looking forward 200.000000 meters along route
#   Maximum depth: 1193.191133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1080.121841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757542;
longitude = -122.105106;
duration = 417;
initialDepth = 1108.071792;
finalDepth = 1080.121841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       85.099416
#   Actual altitude:          85.099416
#   Commanded vehicle depth:  1080.121841 
#   Seafloor depth:           -1165.221257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 147.503490 meters
#   Minimum depth: 1170.739645 meters looking forward 200.000000 meters along route
#   Maximum depth: 1200.112785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1108.071792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756701;
longitude = -122.104583;
duration = 590;
# abortOnTimeout    = True; 
initialDepth = 1132.514397;
finalDepth = 1108.071792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.1886142852036
#   Actual altitude:          86.1886142852036
#   Commanded vehicle depth:  1108.0717917148 
#   Seafloor depth:           -1194.260406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.604111 meters
#   Minimum depth: 1182.514397 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.759560 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1132.514397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757855;
longitude = -122.103762;
duration = 402;
initialDepth = 1145.086170;
finalDepth = 1132.514397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.1886142852036
#   Actual altitude:          86.1886142852036
#   Commanded vehicle depth:  1132.514397 
#   Seafloor depth:           -1193.682760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.603876 meters
#   Minimum depth: 1195.086170 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.759560 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1145.086170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758642;
longitude = -122.103202;
duration = 402;
initialDepth = 1142.655553;
finalDepth = 1145.086170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.480022
#   Actual altitude:          74.480022
#   Commanded vehicle depth:  1145.08617 
#   Seafloor depth:           -1219.566192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.603643 meters
#   Minimum depth: 1192.655553 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.326708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1142.655553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759429;
longitude = -122.102641;
duration = 402;
initialDepth = 1086.946093;
finalDepth = 1142.655553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.480022
#   Actual altitude:          74.480022
#   Commanded vehicle depth:  1142.655553 
#   Seafloor depth:           -1212.475493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.603409 meters
#   Minimum depth: 1136.946093 meters looking forward 200.000000 meters along route
#   Maximum depth: 1209.499594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1086.946093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760215;
longitude = -122.102081;
duration = 402;
initialDepth = 1063.302956;
finalDepth = 1086.946093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.403714
#   Actual altitude:          100
#   Commanded vehicle depth:  1086.946093 
#   Seafloor depth:           -1192.349807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.603174 meters
#   Minimum depth: 1113.302956 meters looking forward 200.000000 meters along route
#   Maximum depth: 1192.060605 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1063.302956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761002;
longitude = -122.101521;
duration = 402;
initialDepth = 1060.021631;
finalDepth = 1063.302956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.403714
#   Actual altitude:          100
#   Commanded vehicle depth:  1063.302956 
#   Seafloor depth:           -1147.993175
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.602941 meters
#   Minimum depth: 1110.021631 meters looking forward 200.000000 meters along route
#   Maximum depth: 1136.389713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1060.021631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761789;
longitude = -122.100961;
duration = 402;
initialDepth = 1060.021631;
finalDepth = 1060.021631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.6902190000001
#   Actual altitude:          84.6902190000001
#   Commanded vehicle depth:  1060.021631 
#   Seafloor depth:           -1119.795178
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.602707 meters
#   Minimum depth: 1110.021631 meters looking forward 200.000000 meters along route
#   Maximum depth: 1128.699910 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1060.021631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762576;
longitude = -122.100401;
duration = 402;
initialDepth = 1064.734647;
finalDepth = 1060.021631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.4868719999999
#   Actual altitude:          65.4868719999999
#   Commanded vehicle depth:  1060.021631 
#   Seafloor depth:           -1125.508503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.602472 meters
#   Minimum depth: 1114.734647 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.723435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1064.734647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763363;
longitude = -122.099841;
duration = 402;
initialDepth = 1070.027381;
finalDepth = 1064.734647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.4868719999999
#   Actual altitude:          65.4868719999999
#   Commanded vehicle depth:  1064.734647 
#   Seafloor depth:           -1122.817907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.602239 meters
#   Minimum depth: 1120.027381 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.723435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1070.027381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764150;
longitude = -122.099280;
duration = 402;
initialDepth = 1066.550511;
finalDepth = 1070.027381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.7126989999999
#   Actual altitude:          60.7126989999999
#   Commanded vehicle depth:  1070.027381 
#   Seafloor depth:           -1130.740080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.602004 meters
#   Minimum depth: 1116.550511 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.016041 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1066.550511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764937;
longitude = -122.098720;
duration = 402;
initialDepth = 1066.550511;
finalDepth = 1066.550511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.7126989999999
#   Actual altitude:          60.7126989999999
#   Commanded vehicle depth:  1066.550511 
#   Seafloor depth:           -1119.982900
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.601770 meters
#   Minimum depth: 1116.550511 meters looking forward 200.000000 meters along route
#   Maximum depth: 1138.257125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1066.550511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765724;
longitude = -122.098160;
duration = 402;
initialDepth = 1066.027597;
finalDepth = 1066.550511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.336765
#   Actual altitude:          60.336765
#   Commanded vehicle depth:  1066.550511 
#   Seafloor depth:           -1126.887276
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.601537 meters
#   Minimum depth: 1116.027597 meters looking forward 200.000000 meters along route
#   Maximum depth: 1139.407217 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1066.027597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766511;
longitude = -122.097600;
duration = 402;
initialDepth = 1038.563187;
finalDepth = 1066.027597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.892548
#   Actual altitude:          71.892548
#   Commanded vehicle depth:  1066.027597 
#   Seafloor depth:           -1137.920145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.825668 meters
#   Minimum depth: 1088.563187 meters looking forward 200.000000 meters along route
#   Maximum depth: 1139.407217 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1038.563187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767298;
longitude = -122.097040;
duration = 403;
initialDepth = 1012.649754;
finalDepth = 1038.563187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2804080000001
#   Actual altitude:          79.2804080000001
#   Commanded vehicle depth:  1038.563187 
#   Seafloor depth:           -1117.843595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.376703 meters
#   Minimum depth: 1062.649754 meters looking forward 200.000000 meters along route
#   Maximum depth: 1120.268907 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1012.649754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768086;
longitude = -122.096478;
duration = 401;
initialDepth = 983.876355;
finalDepth = 1012.649754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2804080000001
#   Actual altitude:          79.2804080000001
#   Commanded vehicle depth:  1012.649754 
#   Seafloor depth:           -1088.541188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.600834 meters
#   Minimum depth: 1033.876355 meters looking forward 200.000000 meters along route
#   Maximum depth: 1087.683554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 983.876355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768872;
longitude = -122.095920;
duration = 402;
initialDepth = 953.216843;
finalDepth = 983.876355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.8914339999999
#   Actual altitude:          75.8914339999999
#   Commanded vehicle depth:  983.876355 
#   Seafloor depth:           -1058.238410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.600600 meters
#   Minimum depth: 1003.216843 meters looking forward 200.000000 meters along route
#   Maximum depth: 1056.818405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 953.216843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769658;
longitude = -122.095359;
duration = 402;
initialDepth = 939.955070;
finalDepth = 953.216843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.970459
#   Actual altitude:          77.970459
#   Commanded vehicle depth:  953.216843 
#   Seafloor depth:           -1031.187302
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.600367 meters
#   Minimum depth: 989.955070 meters looking forward 200.000000 meters along route
#   Maximum depth: 1025.836491 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.955070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770445;
longitude = -122.094799;
duration = 402;
initialDepth = 939.955070;
finalDepth = 939.955070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.970459
#   Actual altitude:          77.970459
#   Commanded vehicle depth:  939.95507 
#   Seafloor depth:           -1003.978292
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.600132 meters
#   Minimum depth: 989.955070 meters looking forward 200.000000 meters along route
#   Maximum depth: 1022.384706 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.955070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771232;
longitude = -122.094239;
duration = 402;
initialDepth = 924.899909;
finalDepth = 939.955070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.023222
#   Actual altitude:          64.023222
#   Commanded vehicle depth:  939.95507 
#   Seafloor depth:           -996.641467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.599898 meters
#   Minimum depth: 974.899909 meters looking forward 200.000000 meters along route
#   Maximum depth: 1022.560415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 924.899909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772019;
longitude = -122.093679;
duration = 402;
initialDepth = 892.483047;
finalDepth = 924.899909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.6605060000001
#   Actual altitude:          97.6605060000001
#   Commanded vehicle depth:  924.899909 
#   Seafloor depth:           -1022.560415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.599665 meters
#   Minimum depth: 942.483047 meters looking forward 200.000000 meters along route
#   Maximum depth: 1021.353254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.483047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772806;
longitude = -122.093119;
duration = 402;
initialDepth = 868.175093;
finalDepth = 892.483047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.6605060000001
#   Actual altitude:          97.6605060000001
#   Commanded vehicle depth:  892.483047 
#   Seafloor depth:           -971.366353
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.599430 meters
#   Minimum depth: 918.175093 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.214454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.175093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773593;
longitude = -122.092559;
duration = 402;
initialDepth = 836.317630;
finalDepth = 868.175093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.8833059999999
#   Actual altitude:          78.8833059999999
#   Commanded vehicle depth:  868.175093 
#   Seafloor depth:           -941.139741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.599196 meters
#   Minimum depth: 886.317630 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.280668 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.317630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774380;
longitude = -122.091998;
duration = 402;
initialDepth = 830.065741;
finalDepth = 836.317630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.9349139999999
#   Actual altitude:          73.9349139999999
#   Commanded vehicle depth:  836.31763 
#   Seafloor depth:           -910.252544
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.598963 meters
#   Minimum depth: 880.065741 meters looking forward 200.000000 meters along route
#   Maximum depth: 909.327653 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.065741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775167;
longitude = -122.091438;
duration = 402;
initialDepth = 830.065741;
finalDepth = 830.065741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.9349139999999
#   Actual altitude:          73.9349139999999
#   Commanded vehicle depth:  830.065741 
#   Seafloor depth:           -885.895596
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.598728 meters
#   Minimum depth: 880.065741 meters looking forward 200.000000 meters along route
#   Maximum depth: 905.771709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.065741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775954;
longitude = -122.090878;
duration = 402;
initialDepth = 816.409866;
finalDepth = 830.065741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.933611
#   Actual altitude:          72.933611
#   Commanded vehicle depth:  830.065741 
#   Seafloor depth:           -902.999352
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.598494 meters
#   Minimum depth: 866.409866 meters looking forward 200.000000 meters along route
#   Maximum depth: 905.771709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.409866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776741;
longitude = -122.090318;
duration = 402;
initialDepth = 816.409866;
finalDepth = 816.409866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.047045
#   Actual altitude:          76.047045
#   Commanded vehicle depth:  816.409866 
#   Seafloor depth:           -892.456911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.598261 meters
#   Minimum depth: 866.409866 meters looking forward 200.000000 meters along route
#   Maximum depth: 900.258094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.409866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777528;
longitude = -122.089758;
duration = 402;
initialDepth = 815.283039;
finalDepth = 816.409866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.047045
#   Actual altitude:          76.047045
#   Commanded vehicle depth:  816.409866 
#   Seafloor depth:           -875.650766
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.598026 meters
#   Minimum depth: 865.283039 meters looking forward 200.000000 meters along route
#   Maximum depth: 900.258094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.283039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778315;
longitude = -122.089198;
duration = 402;
initialDepth = 775.192531;
finalDepth = 815.283039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.114753
#   Actual altitude:          78.114753
#   Commanded vehicle depth:  815.283039 
#   Seafloor depth:           -893.397792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 101.146614 meters
#   Minimum depth: 825.192531 meters looking forward 200.000000 meters along route
#   Maximum depth: 899.301540 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 775.192531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779101;
longitude = -122.088637;
duration = 404;
initialDepth = 748.864264;
finalDepth = 775.192531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.4609939999999
#   Actual altitude:          89.4609939999999
#   Commanded vehicle depth:  775.192531 
#   Seafloor depth:           -864.653525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.048737 meters
#   Minimum depth: 798.864264 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.999939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 748.864264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779893;
longitude = -122.088074;
duration = 400;
initialDepth = 748.864264;
finalDepth = 748.864264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.4609939999999
#   Actual altitude:          89.4609939999999
#   Commanded vehicle depth:  748.864264 
#   Seafloor depth:           -824.731814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.597325 meters
#   Minimum depth: 798.864264 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.019126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 748.864264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780675;
longitude = -122.087517;
duration = 402;
initialDepth = 754.677582;
finalDepth = 748.864264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.8675499999999
#   Actual altitude:          75.8675499999999
#   Commanded vehicle depth:  748.864264 
#   Seafloor depth:           -802.948219
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.597090 meters
#   Minimum depth: 804.677582 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.516022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 754.677582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781462;
longitude = -122.086957;
duration = 402;
initialDepth = 774.466218;
finalDepth = 754.677582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.7341379999999
#   Actual altitude:          83.7341379999999
#   Commanded vehicle depth:  754.677582 
#   Seafloor depth:           -838.411720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.596857 meters
#   Minimum depth: 824.466218 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.516022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 774.466218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782249;
longitude = -122.086397;
duration = 402;
initialDepth = 762.535125;
finalDepth = 774.466218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.7341379999999
#   Actual altitude:          83.7341379999999
#   Commanded vehicle depth:  774.466218 
#   Seafloor depth:           -834.547151
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.596623 meters
#   Minimum depth: 812.535125 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.734114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 762.535125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783036;
longitude = -122.085837;
duration = 402;
initialDepth = 725.246757;
finalDepth = 762.535125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.8868640000001
#   Actual altitude:          63.8868640000001
#   Commanded vehicle depth:  762.535125 
#   Seafloor depth:           -826.421989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.596388 meters
#   Minimum depth: 775.246757 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.315372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.246757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783823;
longitude = -122.085277;
duration = 402;
initialDepth = 682.148192;
finalDepth = 725.246757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.462228
#   Actual altitude:          82.462228
#   Commanded vehicle depth:  725.246757 
#   Seafloor depth:           -807.708985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.596155 meters
#   Minimum depth: 732.148192 meters looking forward 200.000000 meters along route
#   Maximum depth: 806.081708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 682.148192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784610;
longitude = -122.084716;
duration = 402;
initialDepth = 658.126939;
finalDepth = 682.148192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.139787
#   Actual altitude:          93.139787
#   Commanded vehicle depth:  682.148192 
#   Seafloor depth:           -775.287979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.595921 meters
#   Minimum depth: 708.126939 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.668465 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 658.126939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785397;
longitude = -122.084156;
duration = 402;
initialDepth = 658.126939;
finalDepth = 658.126939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.139787
#   Actual altitude:          93.139787
#   Commanded vehicle depth:  658.126939 
#   Seafloor depth:           -731.711867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.595687 meters
#   Minimum depth: 708.126939 meters looking forward 200.000000 meters along route
#   Maximum depth: 728.594731 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 658.126939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786184;
longitude = -122.083596;
duration = 402;
initialDepth = 658.752478;
finalDepth = 658.126939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.584928
#   Actual altitude:          73.584928
#   Commanded vehicle depth:  658.126939 
#   Seafloor depth:           -711.009278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.595453 meters
#   Minimum depth: 708.752478 meters looking forward 200.000000 meters along route
#   Maximum depth: 734.153651 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 658.752478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786971;
longitude = -122.083036;
duration = 402;
initialDepth = 665.663465;
finalDepth = 658.752478;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.998346
#   Actual altitude:          59.998346
#   Commanded vehicle depth:  658.752478 
#   Seafloor depth:           -718.750824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.613893 meters
#   Minimum depth: 715.663465 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.597457 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 665.663465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787758;
longitude = -122.082476;
duration = 402;
initialDepth = 672.223887;
finalDepth = 665.663465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8134
#   Actual altitude:          67.8134
#   Commanded vehicle depth:  665.663465 
#   Seafloor depth:           -733.476865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.576311 meters
#   Minimum depth: 722.223887 meters looking forward 200.000000 meters along route
#   Maximum depth: 760.346569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 672.223887 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788545;
longitude = -122.081915;
duration = 402;
initialDepth = 680.765393;
finalDepth = 672.223887;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8134
#   Actual altitude:          67.8134
#   Commanded vehicle depth:  672.223887 
#   Seafloor depth:           -733.746150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.594751 meters
#   Minimum depth: 730.765393 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.506953 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 680.765393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789331;
longitude = -122.081355;
duration = 402;
initialDepth = 707.719675;
finalDepth = 680.765393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.347248
#   Actual altitude:          78.347248
#   Commanded vehicle depth:  680.765393 
#   Seafloor depth:           -759.112641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.594517 meters
#   Minimum depth: 757.835350 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.506953 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.719675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790118;
longitude = -122.080795;
duration = 402;
initialDepth = 669.349730;
finalDepth = 707.719675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.347248
#   Actual altitude:          78.347248
#   Commanded vehicle depth:  707.719674811768 
#   Seafloor depth:           -765.333072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.594283 meters
#   Minimum depth: 719.349730 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.197059 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 669.349730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790905;
longitude = -122.080235;
duration = 402;
initialDepth = 638.483825;
finalDepth = 669.349730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.083035
#   Actual altitude:          88.083035
#   Commanded vehicle depth:  669.34973 
#   Seafloor depth:           -757.432765
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.594049 meters
#   Minimum depth: 688.483825 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.470287 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 638.483825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791692;
longitude = -122.079675;
duration = 402;
initialDepth = 615.766539;
finalDepth = 638.483825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.083035
#   Actual altitude:          88.083035
#   Commanded vehicle depth:  638.483825 
#   Seafloor depth:           -720.570330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.593816 meters
#   Minimum depth: 665.766539 meters looking forward 200.000000 meters along route
#   Maximum depth: 717.854942 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 615.766539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792479;
longitude = -122.079115;
duration = 402;
initialDepth = 584.509258;
finalDepth = 615.766539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.086505
#   Actual altitude:          82.086505
#   Commanded vehicle depth:  615.766539 
#   Seafloor depth:           -685.724627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.593581 meters
#   Minimum depth: 634.509258 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.422357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 584.509258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793266;
longitude = -122.078555;
duration = 402;
initialDepth = 549.465582;
finalDepth = 584.509258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.0282699999999
#   Actual altitude:          80.0282699999999
#   Commanded vehicle depth:  584.509258 
#   Seafloor depth:           -664.537528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.593348 meters
#   Minimum depth: 599.465582 meters looking forward 200.000000 meters along route
#   Maximum depth: 661.818582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.465582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794053;
longitude = -122.077994;
duration = 402;
initialDepth = 511.677292;
finalDepth = 549.465582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.883975
#   Actual altitude:          84.883975
#   Commanded vehicle depth:  549.465582 
#   Seafloor depth:           -634.349557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.593114 meters
#   Minimum depth: 561.677292 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.993915 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.677292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794840;
longitude = -122.077434;
duration = 402;
initialDepth = 471.404815;
finalDepth = 511.677292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.021314
#   Actual altitude:          100
#   Commanded vehicle depth:  511.677292 
#   Seafloor depth:           -615.698606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.592879 meters
#   Minimum depth: 521.404815 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.957885 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.404815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795627;
longitude = -122.076874;
duration = 402;
initialDepth = 432.504630;
finalDepth = 471.404815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.021314
#   Actual altitude:          100
#   Commanded vehicle depth:  471.404815 
#   Seafloor depth:           -564.387731
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.592646 meters
#   Minimum depth: 482.504630 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.746266 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.504630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796414;
longitude = -122.076314;
duration = 402;
initialDepth = 398.040583;
finalDepth = 432.504630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.982916
#   Actual altitude:          92.982916
#   Commanded vehicle depth:  432.50463 
#   Seafloor depth:           -520.404615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 103.174779 meters
#   Minimum depth: 448.040583 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.634748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.040583 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797200;
longitude = -122.075754;
duration = 412;
initialDepth = 367.423885;
finalDepth = 398.040583;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.899985
#   Actual altitude:          87.899985
#   Commanded vehicle depth:  398.040583 
#   Seafloor depth:           -482.349092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 111.392334 meters
#   Minimum depth: 417.423885 meters looking forward 200.000000 meters along route
#   Maximum depth: 472.477360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 367.423885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798008;
longitude = -122.075179;
duration = 445;
initialDepth = 352.402470;
finalDepth = 367.423885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       84.308509
#   Actual altitude:          84.308509
#   Commanded vehicle depth:  367.423885 
#   Seafloor depth:           -447.140788
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 149.981222 meters
#   Minimum depth: 402.402470 meters looking forward 200.000000 meters along route
#   Maximum depth: 440.617639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 352.402470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798879;
longitude = -122.074559;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 386.138487;
finalDepth = 352.402470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       79.716903
#   Actual altitude:          79.716903
#   Commanded vehicle depth:  352.40247 
#   Seafloor depth:           -412.097534
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 175.572135 meters
#   Minimum depth: 436.138487 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.482343 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 386.138487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798068;
longitude = -122.073214;
duration = 702;
# abortOnTimeout    = True; 
initialDepth = 433.182898;
finalDepth = 386.138487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.695064
#   Actual altitude:          59.695064
#   Commanded vehicle depth:  386.138487 
#   Seafloor depth:           -445.202278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.244352 meters
#   Minimum depth: 487.947052 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.079518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.182898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796692;
longitude = -122.074185;
duration = 404;
initialDepth = 456.326247;
finalDepth = 433.182898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.9722860537081
#   Actual altitude:          79.9722860537081
#   Commanded vehicle depth:  433.182897946292 
#   Seafloor depth:           -513.155184
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.244587 meters
#   Minimum depth: 506.326247 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.063578 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 456.326247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795898;
longitude = -122.074746;
duration = 404;
initialDepth = 470.696475;
finalDepth = 456.326247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.9722860537081
#   Actual altitude:          79.9722860537081
#   Commanded vehicle depth:  456.326247 
#   Seafloor depth:           -523.575708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.244820 meters
#   Minimum depth: 520.696475 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.757519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.696475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795104;
longitude = -122.075306;
duration = 404;
initialDepth = 486.951228;
finalDepth = 470.696475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.2494609999999
#   Actual altitude:          67.2494609999999
#   Commanded vehicle depth:  470.696475 
#   Seafloor depth:           -531.458409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.245055 meters
#   Minimum depth: 536.951228 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.915019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.951228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794311;
longitude = -122.075866;
duration = 404;
initialDepth = 508.596514;
finalDepth = 486.951228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.793001
#   Actual altitude:          74.793001
#   Commanded vehicle depth:  486.951228 
#   Seafloor depth:           -561.744229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.245289 meters
#   Minimum depth: 558.596514 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.994016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.596514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793517;
longitude = -122.076426;
duration = 404;
initialDepth = 529.462454;
finalDepth = 508.596514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.793001
#   Actual altitude:          74.793001
#   Commanded vehicle depth:  508.596514 
#   Seafloor depth:           -579.328737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.245523 meters
#   Minimum depth: 579.462454 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.017103 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.462454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792723;
longitude = -122.076986;
duration = 404;
initialDepth = 556.591110;
finalDepth = 529.462454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.976261
#   Actual altitude:          89.976261
#   Commanded vehicle depth:  529.462454 
#   Seafloor depth:           -619.438715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.245757 meters
#   Minimum depth: 620.343428 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.723672 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 556.591110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791930;
longitude = -122.077546;
duration = 404;
initialDepth = 583.719828;
finalDepth = 556.591110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.7009513594903
#   Actual altitude:          99.7009513594903
#   Commanded vehicle depth:  556.59110964051 
#   Seafloor depth:           -656.292061
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.245992 meters
#   Minimum depth: 655.654702 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.397534 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 583.719828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791136;
longitude = -122.078106;
duration = 404;
initialDepth = 610.848609;
finalDepth = 583.719828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.159974018871
#   Actual altitude:          100
#   Commanded vehicle depth:  583.719827981129 
#   Seafloor depth:           -690.879802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.246226 meters
#   Minimum depth: 693.416871 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.229725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 610.848609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790342;
longitude = -122.078667;
duration = 404;
initialDepth = 637.977453;
finalDepth = 610.848609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.553952710191
#   Actual altitude:          100
#   Commanded vehicle depth:  610.848609289809 
#   Seafloor depth:           -726.402562
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.246460 meters
#   Minimum depth: 736.856043 meters looking forward 200.000000 meters along route
#   Maximum depth: 783.905805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 637.977453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789549;
longitude = -122.079227;
duration = 404;
initialDepth = 665.106360;
finalDepth = 637.977453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       134.861398701401
#   Actual altitude:          100
#   Commanded vehicle depth:  637.977453298599 
#   Seafloor depth:           -772.838852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.246694 meters
#   Minimum depth: 775.604646 meters looking forward 200.000000 meters along route
#   Maximum depth: 799.511829 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 665.106360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788755;
longitude = -122.079787;
duration = 404;
initialDepth = 692.235329;
finalDepth = 665.106360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       134.861398701401
#   Actual altitude:          100
#   Commanded vehicle depth:  665.106360007497 
#   Seafloor depth:           -784.800228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.246928 meters
#   Minimum depth: 785.368353 meters looking forward 200.000000 meters along route
#   Maximum depth: 801.183949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.235329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787961;
longitude = -122.080347;
duration = 404;
initialDepth = 719.364362;
finalDepth = 692.235329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       119.693867992503
#   Actual altitude:          100
#   Commanded vehicle depth:  692.235329416506 
#   Seafloor depth:           -799.047968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.247162 meters
#   Minimum depth: 775.895045 meters looking forward 200.000000 meters along route
#   Maximum depth: 801.183949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.364362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787168;
longitude = -122.080907;
duration = 404;
initialDepth = 719.542768;
finalDepth = 719.364362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.812638583493
#   Actual altitude:          100
#   Commanded vehicle depth:  719.364361525626 
#   Seafloor depth:           -792.157777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.489346 meters
#   Minimum depth: 769.542768 meters looking forward 200.000000 meters along route
#   Maximum depth: 792.095247 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.542768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786374;
longitude = -122.081467;
duration = 409;
initialDepth = 711.648576;
finalDepth = 719.542768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.7934154743745
#   Actual altitude:          72.7934154743745
#   Commanded vehicle depth:  719.542768 
#   Seafloor depth:           -775.429038
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.005682 meters
#   Minimum depth: 761.648576 meters looking forward 200.000000 meters along route
#   Maximum depth: 776.680265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.648576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785570;
longitude = -122.082034;
duration = 400;
initialDepth = 711.257993;
finalDepth = 711.648576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.0316889999999
#   Actual altitude:          65.0316889999999
#   Commanded vehicle depth:  711.648576 
#   Seafloor depth:           -776.680265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.247865 meters
#   Minimum depth: 761.257993 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.598900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.257993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784787;
longitude = -122.082588;
duration = 404;
initialDepth = 711.257993;
finalDepth = 711.257993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.0316889999999
#   Actual altitude:          65.0316889999999
#   Commanded vehicle depth:  711.257993 
#   Seafloor depth:           -762.730471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.248099 meters
#   Minimum depth: 761.257993 meters looking forward 200.000000 meters along route
#   Maximum depth: 789.629462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.257993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783993;
longitude = -122.083148;
duration = 404;
initialDepth = 720.876094;
finalDepth = 711.257993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.274371
#   Actual altitude:          62.274371
#   Commanded vehicle depth:  711.257993 
#   Seafloor depth:           -773.532364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.248334 meters
#   Minimum depth: 770.876094 meters looking forward 200.000000 meters along route
#   Maximum depth: 818.584070 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 720.876094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783199;
longitude = -122.083708;
duration = 404;
initialDepth = 740.959519;
finalDepth = 720.876094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.9231480000001
#   Actual altitude:          68.9231480000001
#   Commanded vehicle depth:  720.876094 
#   Seafloor depth:           -789.799242
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.119011 meters
#   Minimum depth: 790.959519 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.029258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.959519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782406;
longitude = -122.084268;
duration = 408;
initialDepth = 768.322225;
finalDepth = 740.959519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.772277
#   Actual altitude:          77.772277
#   Commanded vehicle depth:  740.959519 
#   Seafloor depth:           -818.731796
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.378358 meters
#   Minimum depth: 820.775577 meters looking forward 200.000000 meters along route
#   Maximum depth: 869.742186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 768.322225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781605;
longitude = -122.084833;
duration = 401;
initialDepth = 795.218525;
finalDepth = 768.322225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.0011069594736
#   Actual altitude:          87.0011069594736
#   Commanded vehicle depth:  768.322225040526 
#   Seafloor depth:           -855.323332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.249036 meters
#   Minimum depth: 856.902409 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.243366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.218525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780818;
longitude = -122.085389;
duration = 404;
initialDepth = 801.548161;
finalDepth = 795.218525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.0011069594736
#   Actual altitude:          87.0011069594736
#   Commanded vehicle depth:  795.218524523733 
#   Seafloor depth:           -870.248657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.249271 meters
#   Minimum depth: 851.548161 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.243366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.548161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780024;
longitude = -122.085949;
duration = 404;
initialDepth = 794.865832;
finalDepth = 801.548161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.0301324762667
#   Actual altitude:          75.0301324762667
#   Commanded vehicle depth:  801.548161 
#   Seafloor depth:           -862.134107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.249504 meters
#   Minimum depth: 844.865832 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.993293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 794.865832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779231;
longitude = -122.086509;
duration = 404;
initialDepth = 794.865832;
finalDepth = 794.865832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.5859459999999
#   Actual altitude:          60.5859459999999
#   Commanded vehicle depth:  794.865832 
#   Seafloor depth:           -849.512911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.748669 meters
#   Minimum depth: 844.865832 meters looking forward 200.000000 meters along route
#   Maximum depth: 916.549570 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 794.865832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778437;
longitude = -122.087069;
duration = 406;
initialDepth = 812.952039;
finalDepth = 794.865832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.046682
#   Actual altitude:          75.046682
#   Commanded vehicle depth:  794.865832 
#   Seafloor depth:           -869.912514
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.751043 meters
#   Minimum depth: 862.952039 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.456517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.952039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777640;
longitude = -122.087632;
duration = 403;
initialDepth = 839.948199;
finalDepth = 812.952039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.52207
#   Actual altitude:          100
#   Commanded vehicle depth:  812.952039 
#   Seafloor depth:           -917.474109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.250207 meters
#   Minimum depth: 903.669190 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.286184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.948199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776850;
longitude = -122.088189;
duration = 405;
initialDepth = 867.078110;
finalDepth = 839.948199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.815127873797
#   Actual altitude:          100
#   Commanded vehicle depth:  839.948199126203 
#   Seafloor depth:           -944.763327
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.250442 meters
#   Minimum depth: 939.566473 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.448229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.078110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776056;
longitude = -122.088749;
duration = 405;
initialDepth = 893.994697;
finalDepth = 867.078110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       104.815127873797
#   Actual altitude:          100
#   Commanded vehicle depth:  867.078109840709 
#   Seafloor depth:           -944.292285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.250675 meters
#   Minimum depth: 943.994697 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.448229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.994697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775262;
longitude = -122.089310;
duration = 405;
initialDepth = 893.994697;
finalDepth = 893.994697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.2141751592907
#   Actual altitude:          77.2141751592907
#   Commanded vehicle depth:  893.994697 
#   Seafloor depth:           -963.414359
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.378318 meters
#   Minimum depth: 943.994697 meters looking forward 200.000000 meters along route
#   Maximum depth: 988.455583 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.994697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774469;
longitude = -122.089870;
duration = 405;
initialDepth = 902.074070;
finalDepth = 893.994697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.419662
#   Actual altitude:          69.419662
#   Commanded vehicle depth:  893.994697 
#   Seafloor depth:           -947.690139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.123737 meters
#   Minimum depth: 952.074070 meters looking forward 200.000000 meters along route
#   Maximum depth: 994.275505 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 902.074070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773674;
longitude = -122.090431;
duration = 404;
initialDepth = 923.533516;
finalDepth = 902.074070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.520253
#   Actual altitude:          86.520253
#   Commanded vehicle depth:  902.07407 
#   Seafloor depth:           -988.594323
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.251378 meters
#   Minimum depth: 973.533516 meters looking forward 200.000000 meters along route
#   Maximum depth: 1029.795663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 923.533516 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772881;
longitude = -122.090990;
duration = 405;
initialDepth = 942.596598;
finalDepth = 923.533516;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.520253
#   Actual altitude:          86.520253
#   Commanded vehicle depth:  923.533516 
#   Seafloor depth:           -991.021588
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.251613 meters
#   Minimum depth: 992.596598 meters looking forward 200.000000 meters along route
#   Maximum depth: 1073.160890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 942.596598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772088;
longitude = -122.091550;
duration = 405;
initialDepth = 969.726885;
finalDepth = 942.596598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.3051670000001
#   Actual altitude:          87.3051670000001
#   Commanded vehicle depth:  942.596598 
#   Seafloor depth:           -1029.901765
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.251847 meters
#   Minimum depth: 1030.322057 meters looking forward 200.000000 meters along route
#   Maximum depth: 1073.160890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 969.726885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771294;
longitude = -122.092110;
duration = 405;
initialDepth = 996.857236;
finalDepth = 969.726885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.7336085489368
#   Actual altitude:          99.7336085489368
#   Commanded vehicle depth:  969.726885451063 
#   Seafloor depth:           -1069.460494
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.252081 meters
#   Minimum depth: 1059.724861 meters looking forward 200.000000 meters along route
#   Maximum depth: 1071.464857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 996.857236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770500;
longitude = -122.092671;
duration = 405;
initialDepth = 1009.724861;
finalDepth = 996.857236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.7336085489368
#   Actual altitude:          99.7336085489368
#   Commanded vehicle depth:  996.857235602236 
#   Seafloor depth:           -1069.157610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.252316 meters
#   Minimum depth: 1059.724861 meters looking forward 200.000000 meters along route
#   Maximum depth: 1092.723663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1009.724861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769707;
longitude = -122.093231;
duration = 405;
initialDepth = 1015.253272;
finalDepth = 1009.724861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.300374397764
#   Actual altitude:          72.300374397764
#   Commanded vehicle depth:  1009.724861 
#   Seafloor depth:           -1063.016449
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.252549 meters
#   Minimum depth: 1065.253272 meters looking forward 200.000000 meters along route
#   Maximum depth: 1116.410464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1015.253272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768913;
longitude = -122.093791;
duration = 405;
initialDepth = 1042.383810;
finalDepth = 1015.253272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3798450000002
#   Actual altitude:          78.3798450000002
#   Commanded vehicle depth:  1015.253272 
#   Seafloor depth:           -1093.633117
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.252785 meters
#   Minimum depth: 1096.759466 meters looking forward 200.000000 meters along route
#   Maximum depth: 1122.323075 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1042.383810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768119;
longitude = -122.094351;
duration = 405;
initialDepth = 1066.885240;
finalDepth = 1042.383810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3798450000002
#   Actual altitude:          78.3798450000002
#   Commanded vehicle depth:  1042.3838102515 
#   Seafloor depth:           -1117.253342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.253018 meters
#   Minimum depth: 1116.885240 meters looking forward 200.000000 meters along route
#   Maximum depth: 1135.891038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1066.885240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767326;
longitude = -122.094911;
duration = 405;
initialDepth = 1074.216950;
finalDepth = 1066.885240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.8695317484962
#   Actual altitude:          74.8695317484962
#   Commanded vehicle depth:  1066.88524 
#   Seafloor depth:           -1122.734134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.253252 meters
#   Minimum depth: 1124.216950 meters looking forward 200.000000 meters along route
#   Maximum depth: 1151.319827 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1074.216950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766532;
longitude = -122.095471;
duration = 405;
initialDepth = 1085.774437;
finalDepth = 1074.216950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.1447410000001
#   Actual altitude:          59.1447410000001
#   Commanded vehicle depth:  1074.21695 
#   Seafloor depth:           -1133.361691
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.863045 meters
#   Minimum depth: 1135.774437 meters looking forward 200.000000 meters along route
#   Maximum depth: 1172.178534 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1085.774437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765738;
longitude = -122.096032;
duration = 411;
initialDepth = 1104.621250;
finalDepth = 1085.774437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6585149999999
#   Actual altitude:          65.6585149999999
#   Commanded vehicle depth:  1085.774437 
#   Seafloor depth:           -1151.432952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.478952 meters
#   Minimum depth: 1154.621250 meters looking forward 200.000000 meters along route
#   Maximum depth: 1176.217474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1104.621250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764932;
longitude = -122.096601;
duration = 413;
initialDepth = 1120.611417;
finalDepth = 1104.621250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.826693
#   Actual altitude:          67.826693
#   Commanded vehicle depth:  1104.62125 
#   Seafloor depth:           -1172.447943
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.479197 meters
#   Minimum depth: 1170.611417 meters looking forward 200.000000 meters along route
#   Maximum depth: 1188.795130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1120.611417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764121;
longitude = -122.097173;
duration = 413;
initialDepth = 1126.489994;
finalDepth = 1120.611417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.826693
#   Actual altitude:          67.826693
#   Commanded vehicle depth:  1120.611417 
#   Seafloor depth:           -1172.137934
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.479441 meters
#   Minimum depth: 1176.489994 meters looking forward 200.000000 meters along route
#   Maximum depth: 1188.795130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1126.489994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763310;
longitude = -122.097746;
duration = 413;
initialDepth = 1117.457044;
finalDepth = 1126.489994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.834104
#   Actual altitude:          58.834104
#   Commanded vehicle depth:  1126.489994 
#   Seafloor depth:           -1185.324098
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 108.274889 meters
#   Minimum depth: 1167.457044 meters looking forward 200.000000 meters along route
#   Maximum depth: 1198.600154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1117.457044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762499;
longitude = -122.098318;
duration = 433;
initialDepth = 1134.609663;
finalDepth = 1117.457044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.285621
#   Actual altitude:          63.285621
#   Commanded vehicle depth:  1117.457044 
#   Seafloor depth:           -1180.742665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 150.040602 meters
#   Minimum depth: 1184.609663 meters looking forward 200.000000 meters along route
#   Maximum depth: 1232.213865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1134.609663 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761650;
longitude = -122.098917;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 1153.656881;
finalDepth = 1134.609663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.285621
#   Actual altitude:          63.285621
#   Commanded vehicle depth:  1134.609663 
#   Seafloor depth:           -1192.976471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 75.092208 meters
#   Minimum depth: 1203.656881 meters looking forward 200.000000 meters along route
#   Maximum depth: 1233.597402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1153.656881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760984;
longitude = -122.097454;
duration = 300;
# abortOnTimeout    = True; 
initialDepth = 1164.555106;
finalDepth = 1153.656881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.9053439999998
#   Actual altitude:          79.9053439999998
#   Commanded vehicle depth:  1153.656881 
#   Seafloor depth:           -1233.562225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.558699 meters
#   Minimum depth: 1214.555106 meters looking forward 200.000000 meters along route
#   Maximum depth: 1233.597402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1164.555106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761573;
longitude = -122.097040;
duration = 406;
initialDepth = 1158.750719;
finalDepth = 1164.555106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.9053439999998
#   Actual altitude:          79.9053439999998
#   Commanded vehicle depth:  1164.555106 
#   Seafloor depth:           -1222.372842
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.558465 meters
#   Minimum depth: 1208.750719 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.314487 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1158.750719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762370;
longitude = -122.096480;
duration = 406;
initialDepth = 1140.924065;
finalDepth = 1158.750719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.5132510000001
#   Actual altitude:          58.5132510000001
#   Commanded vehicle depth:  1158.750719 
#   Seafloor depth:           -1217.263970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.558231 meters
#   Minimum depth: 1190.924065 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.134550 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1140.924065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763167;
longitude = -122.095920;
duration = 406;
initialDepth = 1115.506648;
finalDepth = 1140.924065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.0736000000002
#   Actual altitude:          68.0736000000002
#   Commanded vehicle depth:  1140.924065 
#   Seafloor depth:           -1208.997665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.557996 meters
#   Minimum depth: 1165.506648 meters looking forward 200.000000 meters along route
#   Maximum depth: 1210.699331 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1115.506648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763964;
longitude = -122.095359;
duration = 406;
initialDepth = 1098.322887;
finalDepth = 1115.506648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.043776
#   Actual altitude:          81.043776
#   Commanded vehicle depth:  1115.506648 
#   Seafloor depth:           -1196.550424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.274338 meters
#   Minimum depth: 1148.322887 meters looking forward 200.000000 meters along route
#   Maximum depth: 1190.432568 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1098.322887 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764760;
longitude = -122.094799;
duration = 409;
initialDepth = 1086.671892;
finalDepth = 1098.322887;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.043776
#   Actual altitude:          81.043776
#   Commanded vehicle depth:  1098.322887 
#   Seafloor depth:           -1164.996224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.840951 meters
#   Minimum depth: 1136.671892 meters looking forward 200.000000 meters along route
#   Maximum depth: 1166.593783 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1086.671892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765563;
longitude = -122.094235;
duration = 403;
initialDepth = 1079.838709;
finalDepth = 1086.671892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.6733369999999
#   Actual altitude:          66.6733369999999
#   Commanded vehicle depth:  1086.671892 
#   Seafloor depth:           -1148.290707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.557292 meters
#   Minimum depth: 1129.838709 meters looking forward 200.000000 meters along route
#   Maximum depth: 1146.929425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1079.838709 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766354;
longitude = -122.093679;
duration = 406;
initialDepth = 1074.660166;
finalDepth = 1079.838709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.618815
#   Actual altitude:          61.618815
#   Commanded vehicle depth:  1079.838709 
#   Seafloor depth:           -1132.286835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.557059 meters
#   Minimum depth: 1124.660166 meters looking forward 200.000000 meters along route
#   Maximum depth: 1135.550903 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1074.660166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767151;
longitude = -122.093119;
duration = 406;
initialDepth = 1061.694929;
finalDepth = 1074.660166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.4995020000001
#   Actual altitude:          56.4995020000001
#   Commanded vehicle depth:  1074.660166 
#   Seafloor depth:           -1131.159668
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.556824 meters
#   Minimum depth: 1111.694929 meters looking forward 200.000000 meters along route
#   Maximum depth: 1135.377868 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1061.694929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767948;
longitude = -122.092559;
duration = 406;
initialDepth = 1051.713446;
finalDepth = 1061.694929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.504083
#   Actual altitude:          62.504083
#   Commanded vehicle depth:  1061.694929 
#   Seafloor depth:           -1124.199012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.556590 meters
#   Minimum depth: 1101.713446 meters looking forward 200.000000 meters along route
#   Maximum depth: 1124.618710 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1051.713446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768745;
longitude = -122.091998;
duration = 406;
initialDepth = 1037.314833;
finalDepth = 1051.713446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.504083
#   Actual altitude:          62.504083
#   Commanded vehicle depth:  1051.713446 
#   Seafloor depth:           -1110.118518
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.714703 meters
#   Minimum depth: 1087.314833 meters looking forward 200.000000 meters along route
#   Maximum depth: 1106.654859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1037.314833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769541;
longitude = -122.091438;
duration = 406;
initialDepth = 1022.085213;
finalDepth = 1037.314833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.097851
#   Actual altitude:          64.097851
#   Commanded vehicle depth:  1037.314833 
#   Seafloor depth:           -1101.412684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.397773 meters
#   Minimum depth: 1072.085213 meters looking forward 200.000000 meters along route
#   Maximum depth: 1101.111316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1022.085213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770340;
longitude = -122.090877;
duration = 405;
initialDepth = 996.085148;
finalDepth = 1022.085213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.2137679999998
#   Actual altitude:          65.2137679999998
#   Commanded vehicle depth:  1022.085213 
#   Seafloor depth:           -1087.298981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.555887 meters
#   Minimum depth: 1046.085148 meters looking forward 200.000000 meters along route
#   Maximum depth: 1087.108327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 996.085148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771135;
longitude = -122.090318;
duration = 406;
initialDepth = 987.448134;
finalDepth = 996.085148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.5636460000001
#   Actual altitude:          73.5636460000001
#   Commanded vehicle depth:  996.085148 
#   Seafloor depth:           -1069.648794
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.555652 meters
#   Minimum depth: 1037.448134 meters looking forward 200.000000 meters along route
#   Maximum depth: 1065.793695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 987.448134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771932;
longitude = -122.089758;
duration = 406;
initialDepth = 960.301988;
finalDepth = 987.448134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.5636460000001
#   Actual altitude:          73.5636460000001
#   Commanded vehicle depth:  987.448134 
#   Seafloor depth:           -1046.284779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.555418 meters
#   Minimum depth: 1010.301988 meters looking forward 200.000000 meters along route
#   Maximum depth: 1046.875948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 960.301988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772729;
longitude = -122.089198;
duration = 406;
initialDepth = 946.706537;
finalDepth = 960.301988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.1284460000001
#   Actual altitude:          79.1284460000001
#   Commanded vehicle depth:  960.301988 
#   Seafloor depth:           -1039.430434
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.555184 meters
#   Minimum depth: 996.706537 meters looking forward 200.000000 meters along route
#   Maximum depth: 1040.177512 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 946.706537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773526;
longitude = -122.088637;
duration = 406;
initialDepth = 937.164188;
finalDepth = 946.706537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.1284460000001
#   Actual altitude:          79.1284460000001
#   Commanded vehicle depth:  946.706537 
#   Seafloor depth:           -1009.820448
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.554949 meters
#   Minimum depth: 987.164188 meters looking forward 200.000000 meters along route
#   Maximum depth: 1010.071657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 937.164188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774322;
longitude = -122.088077;
duration = 406;
initialDepth = 912.244854;
finalDepth = 937.164188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.113911
#   Actual altitude:          63.113911
#   Commanded vehicle depth:  937.164188 
#   Seafloor depth:           -996.912650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.976184 meters
#   Minimum depth: 962.244854 meters looking forward 200.000000 meters along route
#   Maximum depth: 1002.201838 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.244854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775119;
longitude = -122.087517;
duration = 411;
initialDepth = 886.727295;
finalDepth = 912.244854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.984702
#   Actual altitude:          81.984702
#   Commanded vehicle depth:  912.244854 
#   Seafloor depth:           -994.229556
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.133012 meters
#   Minimum depth: 936.727295 meters looking forward 200.000000 meters along route
#   Maximum depth: 990.247317 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.727295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775927;
longitude = -122.086949;
duration = 400;
initialDepth = 857.497002;
finalDepth = 886.727295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.984702
#   Actual altitude:          81.984702
#   Commanded vehicle depth:  886.727295 
#   Seafloor depth:           -961.743095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.554246 meters
#   Minimum depth: 907.497002 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.734789 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.497002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776713;
longitude = -122.086397;
duration = 406;
initialDepth = 857.497002;
finalDepth = 857.497002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.6374470000001
#   Actual altitude:          75.6374470000001
#   Commanded vehicle depth:  857.497002 
#   Seafloor depth:           -933.134449
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.554012 meters
#   Minimum depth: 907.497002 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.872663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.497002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777510;
longitude = -122.085837;
duration = 406;
initialDepth = 867.387659;
finalDepth = 857.497002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.6374470000001
#   Actual altitude:          75.6374470000001
#   Commanded vehicle depth:  857.497002 
#   Seafloor depth:           -918.234663
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.553777 meters
#   Minimum depth: 917.387659 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.360827 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.387659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778307;
longitude = -122.085277;
duration = 406;
initialDepth = 867.387659;
finalDepth = 867.387659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.737661
#   Actual altitude:          60.737661
#   Commanded vehicle depth:  867.387659 
#   Seafloor depth:           -920.500225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.553543 meters
#   Minimum depth: 917.387659 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.360827 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.387659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779103;
longitude = -122.084716;
duration = 406;
initialDepth = 840.886560;
finalDepth = 867.387659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.585418
#   Actual altitude:          56.585418
#   Commanded vehicle depth:  867.387659 
#   Seafloor depth:           -923.973077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.416556 meters
#   Minimum depth: 890.886560 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.829011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 840.886560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779900;
longitude = -122.084156;
duration = 409;
initialDepth = 814.559520;
finalDepth = 840.886560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.330569
#   Actual altitude:          79.330569
#   Commanded vehicle depth:  840.88656 
#   Seafloor depth:           -920.217129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.689828 meters
#   Minimum depth: 864.559520 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.885490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.559520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780704;
longitude = -122.083591;
duration = 402;
initialDepth = 799.940274;
finalDepth = 814.559520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.330569
#   Actual altitude:          79.330569
#   Commanded vehicle depth:  814.55952 
#   Seafloor depth:           -890.660959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.552840 meters
#   Minimum depth: 849.940274 meters looking forward 200.000000 meters along route
#   Maximum depth: 892.686786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 799.940274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781494;
longitude = -122.083036;
duration = 406;
initialDepth = 781.936057;
finalDepth = 799.940274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.101439
#   Actual altitude:          76.101439
#   Commanded vehicle depth:  799.940274 
#   Seafloor depth:           -859.968224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.552606 meters
#   Minimum depth: 831.936057 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.436004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.936057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782291;
longitude = -122.082476;
duration = 406;
initialDepth = 763.668879;
finalDepth = 781.936057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.757759
#   Actual altitude:          69.757759
#   Commanded vehicle depth:  781.936057 
#   Seafloor depth:           -851.693816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.552372 meters
#   Minimum depth: 813.668879 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.967228 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 763.668879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783087;
longitude = -122.081916;
duration = 406;
initialDepth = 763.668879;
finalDepth = 763.668879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.757759
#   Actual altitude:          69.757759
#   Commanded vehicle depth:  763.668879 
#   Seafloor depth:           -830.747799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.552137 meters
#   Minimum depth: 813.668879 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.520607 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 763.668879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783884;
longitude = -122.081355;
duration = 406;
initialDepth = 770.304043;
finalDepth = 763.668879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.07892
#   Actual altitude:          67.07892
#   Commanded vehicle depth:  763.668879 
#   Seafloor depth:           -817.278969
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.856943 meters
#   Minimum depth: 820.304043 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.000036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 770.304043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784681;
longitude = -122.080795;
duration = 407;
initialDepth = 796.973009;
finalDepth = 770.304043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.068001
#   Actual altitude:          74.068001
#   Commanded vehicle depth:  770.304043 
#   Seafloor depth:           -844.372044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.246629 meters
#   Minimum depth: 846.973009 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.670538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.973009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785480;
longitude = -122.080233;
duration = 404;
initialDepth = 793.739796;
finalDepth = 796.973009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.068001
#   Actual altitude:          74.068001
#   Commanded vehicle depth:  796.973009 
#   Seafloor depth:           -863.148002
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.551434 meters
#   Minimum depth: 843.739796 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.670538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 793.739796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786275;
longitude = -122.079675;
duration = 406;
initialDepth = 745.346233;
finalDepth = 793.739796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.136243
#   Actual altitude:          69.136243
#   Commanded vehicle depth:  793.739796 
#   Seafloor depth:           -862.876039
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.551200 meters
#   Minimum depth: 795.346233 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.451347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 745.346233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787072;
longitude = -122.079115;
duration = 406;
initialDepth = 711.009699;
finalDepth = 745.346233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.072748
#   Actual altitude:          93.072748
#   Commanded vehicle depth:  745.346233 
#   Seafloor depth:           -838.418981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.550966 meters
#   Minimum depth: 761.009699 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.959941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.009699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787868;
longitude = -122.078555;
duration = 406;
initialDepth = 668.261188;
finalDepth = 711.009699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.072748
#   Actual altitude:          93.072748
#   Commanded vehicle depth:  711.009699 
#   Seafloor depth:           -798.010592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.550731 meters
#   Minimum depth: 718.261188 meters looking forward 200.000000 meters along route
#   Maximum depth: 794.822325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 668.261188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788665;
longitude = -122.077994;
duration = 406;
initialDepth = 641.879035;
finalDepth = 668.261188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.1242960000001
#   Actual altitude:          90.1242960000001
#   Commanded vehicle depth:  668.261188 
#   Seafloor depth:           -758.385484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.550498 meters
#   Minimum depth: 691.879035 meters looking forward 200.000000 meters along route
#   Maximum depth: 757.138829 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.879035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789462;
longitude = -122.077434;
duration = 406;
initialDepth = 618.639070;
finalDepth = 641.879035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.1242960000001
#   Actual altitude:          90.1242960000001
#   Commanded vehicle depth:  641.879035 
#   Seafloor depth:           -717.397434
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.550263 meters
#   Minimum depth: 668.639070 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.159177 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 618.639070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790259;
longitude = -122.076874;
duration = 406;
initialDepth = 604.690820;
finalDepth = 618.639070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.5183989999999
#   Actual altitude:          75.5183989999999
#   Commanded vehicle depth:  618.63907 
#   Seafloor depth:           -692.450773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.550028 meters
#   Minimum depth: 654.690820 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.052290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.690820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791056;
longitude = -122.076314;
duration = 406;
initialDepth = 583.968754;
finalDepth = 604.690820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.8117030000001
#   Actual altitude:          73.8117030000001
#   Commanded vehicle depth:  604.69082 
#   Seafloor depth:           -664.481466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.549795 meters
#   Minimum depth: 633.968754 meters looking forward 200.000000 meters along route
#   Maximum depth: 668.161563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 583.968754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791853;
longitude = -122.075754;
duration = 406;
initialDepth = 539.387270;
finalDepth = 583.968754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.986449
#   Actual altitude:          69.986449
#   Commanded vehicle depth:  583.968754 
#   Seafloor depth:           -653.955203
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.549560 meters
#   Minimum depth: 589.387270 meters looking forward 200.000000 meters along route
#   Maximum depth: 652.808179 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.387270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792649;
longitude = -122.075194;
duration = 406;
initialDepth = 470.036810;
finalDepth = 539.387270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.3822090000001
#   Actual altitude:          90.3822090000001
#   Commanded vehicle depth:  539.38727 
#   Seafloor depth:           -629.769479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.549325 meters
#   Minimum depth: 520.036810 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.913976 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 470.036810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793446;
longitude = -122.074634;
duration = 406;
initialDepth = 433.620194;
finalDepth = 470.036810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.283876
#   Actual altitude:          100
#   Commanded vehicle depth:  470.03681 
#   Seafloor depth:           -587.320686
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.549092 meters
#   Minimum depth: 483.620194 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.089264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.620194 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794243;
longitude = -122.074073;
duration = 406;
initialDepth = 377.599426;
finalDepth = 433.620194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.283876
#   Actual altitude:          100
#   Commanded vehicle depth:  433.620194 
#   Seafloor depth:           -521.370830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.558761 meters
#   Minimum depth: 427.599426 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.075219 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 377.599426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795040;
longitude = -122.073513;
duration = 410;
initialDepth = 324.687949;
finalDepth = 377.599426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.988078
#   Actual altitude:          100
#   Commanded vehicle depth:  377.599426 
#   Seafloor depth:           -483.587504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 107.226708 meters
#   Minimum depth: 374.687949 meters looking forward 200.000000 meters along route
#   Maximum depth: 483.677777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 324.687949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795845;
longitude = -122.072947;
duration = 428;
initialDepth = 320.282388;
finalDepth = 324.687949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       105.988078
#   Actual altitude:          100
#   Commanded vehicle depth:  324.687949 
#   Seafloor depth:           -426.932113
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 178.875853 meters
#   Minimum depth: 370.282388 meters looking forward 200.000000 meters along route
#   Maximum depth: 427.759974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 320.282388 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796686;
longitude = -122.072356;
duration = 715;
# abortOnTimeout    = True; 
initialDepth = 362.672284;
finalDepth = 320.282388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       102.244164
#   Actual altitude:          100
#   Commanded vehicle depth:  320.282388 
#   Seafloor depth:           -376.261421
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 169.404160 meters
#   Minimum depth: 412.672284 meters looking forward 200.000000 meters along route
#   Maximum depth: 545.047715 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 362.672284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795244;
longitude = -122.071459;
duration = 677;
# abortOnTimeout    = True; 
initialDepth = 408.063991;
finalDepth = 362.672284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.119472
#   Actual altitude:          70.119472
#   Commanded vehicle depth:  362.672284 
#   Seafloor depth:           -432.791756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.610575 meters
#   Minimum depth: 492.546855 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.301428 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 408.063991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793914;
longitude = -122.072393;
duration = 406;
initialDepth = 435.290462;
finalDepth = 408.063991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       139.095294944372
#   Actual altitude:          100
#   Commanded vehicle depth:  408.063991055628 
#   Seafloor depth:           -547.159286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.610809 meters
#   Minimum depth: 546.195693 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.125144 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.290462 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793117;
longitude = -122.072953;
duration = 406;
initialDepth = 462.516996;
finalDepth = 435.290462;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       139.095294944372
#   Actual altitude:          100
#   Commanded vehicle depth:  435.290462082986 
#   Seafloor depth:           -558.487208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.049432 meters
#   Minimum depth: 546.195693 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.979114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.516996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792320;
longitude = -122.073513;
duration = 408;
initialDepth = 489.861058;
finalDepth = 462.516996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       123.196745917014
#   Actual altitude:          100
#   Commanded vehicle depth:  462.516995810456 
#   Seafloor depth:           -561.250315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.172890 meters
#   Minimum depth: 559.616630 meters looking forward 200.000000 meters along route
#   Maximum depth: 659.426905 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.861058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791519;
longitude = -122.074076;
duration = 404;
initialDepth = 516.970252;
finalDepth = 489.861058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       126.694289785544
#   Actual altitude:          100
#   Commanded vehicle depth:  489.861058214456 
#   Seafloor depth:           -616.555348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.611512 meters
#   Minimum depth: 615.600089 meters looking forward 200.000000 meters along route
#   Maximum depth: 683.930582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.970252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790725;
longitude = -122.074634;
duration = 406;
initialDepth = 544.196974;
finalDepth = 516.970252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       142.288974098381
#   Actual altitude:          100
#   Commanded vehicle depth:  516.970251901619 
#   Seafloor depth:           -659.259226
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.611746 meters
#   Minimum depth: 664.232912 meters looking forward 200.000000 meters along route
#   Maximum depth: 700.250764 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.196974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789927;
longitude = -122.075194;
duration = 406;
initialDepth = 571.423759;
finalDepth = 544.196974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       142.288974098381
#   Actual altitude:          100
#   Commanded vehicle depth:  544.196973997367 
#   Seafloor depth:           -685.608947
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.611981 meters
#   Minimum depth: 688.035711 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.849140 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.423759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789130;
longitude = -122.075754;
duration = 406;
initialDepth = 598.650607;
finalDepth = 571.423759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       141.411973002633
#   Actual altitude:          100
#   Commanded vehicle depth:  571.423758793225 
#   Seafloor depth:           -699.791385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.612215 meters
#   Minimum depth: 696.492133 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.589486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 598.650607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788332;
longitude = -122.076314;
duration = 406;
initialDepth = 625.877517;
finalDepth = 598.650607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.367626206775
#   Actual altitude:          100
#   Commanded vehicle depth:  598.65060655714 
#   Seafloor depth:           -711.983474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.612449 meters
#   Minimum depth: 716.161281 meters looking forward 200.000000 meters along route
#   Maximum depth: 773.753784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 625.877517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787535;
longitude = -122.076874;
duration = 406;
initialDepth = 653.104490;
finalDepth = 625.877517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.33286744286
#   Actual altitude:          100
#   Commanded vehicle depth:  625.877517021166 
#   Seafloor depth:           -738.250441
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.749498 meters
#   Minimum depth: 741.216856 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.879079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 653.104490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786737;
longitude = -122.077434;
duration = 410;
initialDepth = 680.636135;
finalDepth = 653.104490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       120.721088814698
#   Actual altitude:          100
#   Commanded vehicle depth:  653.104490185302 
#   Seafloor depth:           -773.825579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.476103 meters
#   Minimum depth: 771.765947 meters looking forward 200.000000 meters along route
#   Maximum depth: 867.468214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 680.636135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785931;
longitude = -122.078001;
duration = 401;
initialDepth = 707.558625;
finalDepth = 680.636135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       148.674834294699
#   Actual altitude:          100
#   Commanded vehicle depth:  680.636134705301 
#   Seafloor depth:           -829.310969
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.613152 meters
#   Minimum depth: 837.503181 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.011701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.558625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785142;
longitude = -122.078555;
duration = 406;
initialDepth = 734.785786;
finalDepth = 707.558625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       159.448940118146
#   Actual altitude:          100
#   Commanded vehicle depth:  707.558624881854 
#   Seafloor depth:           -867.007565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.613387 meters
#   Minimum depth: 865.038205 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.011701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.785786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784345;
longitude = -122.079115;
duration = 406;
initialDepth = 762.013011;
finalDepth = 734.785786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       159.448940118146
#   Actual altitude:          100
#   Commanded vehicle depth:  734.785786414269 
#   Seafloor depth:           -868.190746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.613621 meters
#   Minimum depth: 864.190816 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.293305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 762.013011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783548;
longitude = -122.079675;
duration = 406;
initialDepth = 789.240298;
finalDepth = 762.013011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       133.404959585731
#   Actual altitude:          100
#   Commanded vehicle depth:  762.013010914742 
#   Seafloor depth:           -864.927463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.613855 meters
#   Minimum depth: 854.666594 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.293305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 789.240298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782750;
longitude = -122.080235;
duration = 406;
initialDepth = 797.571694;
finalDepth = 789.240298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.914452085258
#   Actual altitude:          100
#   Commanded vehicle depth:  789.240298115327 
#   Seafloor depth:           -875.162040
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.709025 meters
#   Minimum depth: 847.571694 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.737635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 797.571694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781953;
longitude = -122.080795;
duration = 406;
initialDepth = 797.571694;
finalDepth = 797.571694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.9217418846729
#   Actual altitude:          85.9217418846729
#   Commanded vehicle depth:  797.571694 
#   Seafloor depth:           -854.438747
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.519388 meters
#   Minimum depth: 847.571694 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.968927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 797.571694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781154;
longitude = -122.081356;
duration = 406;
initialDepth = 808.130227;
finalDepth = 797.571694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.152467
#   Actual altitude:          61.152467
#   Commanded vehicle depth:  797.571694 
#   Seafloor depth:           -858.724161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.614558 meters
#   Minimum depth: 858.130227 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.982677 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.130227 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780358;
longitude = -122.081916;
duration = 406;
initialDepth = 833.219637;
finalDepth = 808.130227;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.704637
#   Actual altitude:          70.704637
#   Commanded vehicle depth:  808.130227 
#   Seafloor depth:           -878.834864
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.614792 meters
#   Minimum depth: 883.219637 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.162836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.219637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779560;
longitude = -122.082476;
duration = 406;
initialDepth = 858.860093;
finalDepth = 833.219637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.6344919999999
#   Actual altitude:          73.6344919999999
#   Commanded vehicle depth:  833.219637 
#   Seafloor depth:           -906.854129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.615027 meters
#   Minimum depth: 908.860093 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.791276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.860093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778763;
longitude = -122.083036;
duration = 406;
initialDepth = 886.087757;
finalDepth = 858.860093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.45842
#   Actual altitude:          75.45842
#   Commanded vehicle depth:  858.860093 
#   Seafloor depth:           -934.318513
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.615261 meters
#   Minimum depth: 936.708177 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.378849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.087757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777965;
longitude = -122.083596;
duration = 406;
initialDepth = 904.872129;
finalDepth = 886.087757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.45842
#   Actual altitude:          75.45842
#   Commanded vehicle depth:  886.087756937142 
#   Seafloor depth:           -954.470158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.615496 meters
#   Minimum depth: 954.872129 meters looking forward 200.000000 meters along route
#   Maximum depth: 979.564001 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 904.872129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777168;
longitude = -122.084156;
duration = 406;
initialDepth = 920.021643;
finalDepth = 904.872129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.3824010628582
#   Actual altitude:          68.3824010628582
#   Commanded vehicle depth:  904.872129 
#   Seafloor depth:           -969.453021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.409107 meters
#   Minimum depth: 970.021643 meters looking forward 200.000000 meters along route
#   Maximum depth: 993.456018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 920.021643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776370;
longitude = -122.084716;
duration = 409;
initialDepth = 928.483253;
finalDepth = 920.021643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.5808920000001
#   Actual altitude:          64.5808920000001
#   Commanded vehicle depth:  920.021643 
#   Seafloor depth:           -979.199454
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.822587 meters
#   Minimum depth: 978.483253 meters looking forward 200.000000 meters along route
#   Maximum depth: 1006.819647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 928.483253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775567;
longitude = -122.085281;
duration = 403;
initialDepth = 944.105308;
finalDepth = 928.483253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.377908
#   Actual altitude:          65.377908
#   Commanded vehicle depth:  928.483253 
#   Seafloor depth:           -993.861161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.616198 meters
#   Minimum depth: 994.105308 meters looking forward 200.000000 meters along route
#   Maximum depth: 1027.786324 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.105308 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774775;
longitude = -122.085837;
duration = 406;
initialDepth = 960.757723;
finalDepth = 944.105308;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.377908
#   Actual altitude:          65.377908
#   Commanded vehicle depth:  944.105308 
#   Seafloor depth:           -1005.253128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.616433 meters
#   Minimum depth: 1010.757723 meters looking forward 200.000000 meters along route
#   Maximum depth: 1040.131610 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 960.757723 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773978;
longitude = -122.086397;
duration = 406;
initialDepth = 981.563498;
finalDepth = 960.757723;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.10397
#   Actual altitude:          71.10397
#   Commanded vehicle depth:  960.757723 
#   Seafloor depth:           -1031.861693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.616667 meters
#   Minimum depth: 1031.563498 meters looking forward 200.000000 meters along route
#   Maximum depth: 1041.058886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 981.563498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773181;
longitude = -122.086957;
duration = 406;
initialDepth = 981.563498;
finalDepth = 981.563498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.10397
#   Actual altitude:          71.10397
#   Commanded vehicle depth:  981.563498 
#   Seafloor depth:           -1035.045873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.616902 meters
#   Minimum depth: 1031.563498 meters looking forward 200.000000 meters along route
#   Maximum depth: 1057.080785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 981.563498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772383;
longitude = -122.087517;
duration = 406;
initialDepth = 991.864171;
finalDepth = 981.563498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.089784
#   Actual altitude:          56.089784
#   Commanded vehicle depth:  981.563498 
#   Seafloor depth:           -1037.653282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.617136 meters
#   Minimum depth: 1041.864171 meters looking forward 200.000000 meters along route
#   Maximum depth: 1071.659136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 991.864171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771586;
longitude = -122.088077;
duration = 406;
initialDepth = 1007.394576;
finalDepth = 991.864171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.869115
#   Actual altitude:          65.869115
#   Commanded vehicle depth:  991.864171 
#   Seafloor depth:           -1057.733286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.109211 meters
#   Minimum depth: 1057.394576 meters looking forward 200.000000 meters along route
#   Maximum depth: 1075.691395 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1007.394576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770788;
longitude = -122.088637;
duration = 412;
initialDepth = 1015.509285;
finalDepth = 1007.394576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.869115
#   Actual altitude:          65.869115
#   Commanded vehicle depth:  1007.394576 
#   Seafloor depth:           -1069.116698
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.125764 meters
#   Minimum depth: 1065.509285 meters looking forward 200.000000 meters along route
#   Maximum depth: 1107.223940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1015.509285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769979;
longitude = -122.089206;
duration = 400;
initialDepth = 1029.976815;
finalDepth = 1015.509285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.7221220000001
#   Actual altitude:          61.7221220000001
#   Commanded vehicle depth:  1015.509285 
#   Seafloor depth:           -1074.774437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.617839 meters
#   Minimum depth: 1079.976815 meters looking forward 200.000000 meters along route
#   Maximum depth: 1115.333565 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1029.976815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769193;
longitude = -122.089758;
duration = 406;
initialDepth = 1053.963806;
finalDepth = 1029.976815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.458173
#   Actual altitude:          71.458173
#   Commanded vehicle depth:  1029.976815 
#   Seafloor depth:           -1101.434988
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.618073 meters
#   Minimum depth: 1103.963806 meters looking forward 200.000000 meters along route
#   Maximum depth: 1125.384609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1053.963806 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768396;
longitude = -122.090318;
duration = 406;
initialDepth = 1066.052721;
finalDepth = 1053.963806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.458173
#   Actual altitude:          71.458173
#   Commanded vehicle depth:  1053.963806 
#   Seafloor depth:           -1117.645945
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.618308 meters
#   Minimum depth: 1116.052721 meters looking forward 200.000000 meters along route
#   Maximum depth: 1138.267318 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1066.052721 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767598;
longitude = -122.090878;
duration = 406;
initialDepth = 1075.039981;
finalDepth = 1066.052721;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.682139
#   Actual altitude:          63.682139
#   Commanded vehicle depth:  1066.052721 
#   Seafloor depth:           -1123.571148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.618542 meters
#   Minimum depth: 1125.039981 meters looking forward 200.000000 meters along route
#   Maximum depth: 1149.107143 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1075.039981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766801;
longitude = -122.091438;
duration = 406;
initialDepth = 1089.546692;
finalDepth = 1075.039981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5377940000001
#   Actual altitude:          62.5377940000001
#   Commanded vehicle depth:  1075.039981 
#   Seafloor depth:           -1137.577775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.068695 meters
#   Minimum depth: 1139.546692 meters looking forward 200.000000 meters along route
#   Maximum depth: 1157.045357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1089.546692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766003;
longitude = -122.091998;
duration = 408;
initialDepth = 1097.303282;
finalDepth = 1089.546692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5377940000001
#   Actual altitude:          62.5377940000001
#   Commanded vehicle depth:  1089.546692 
#   Seafloor depth:           -1145.693163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.359420 meters
#   Minimum depth: 1147.303282 meters looking forward 200.000000 meters along route
#   Maximum depth: 1167.361874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1097.303282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765202;
longitude = -122.092561;
duration = 413;
initialDepth = 1105.464696;
finalDepth = 1097.303282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.146471
#   Actual altitude:          56.146471
#   Commanded vehicle depth:  1097.303282 
#   Seafloor depth:           -1152.407712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.359663 meters
#   Minimum depth: 1155.464696 meters looking forward 200.000000 meters along route
#   Maximum depth: 1189.173720 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1105.464696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764391;
longitude = -122.093131;
duration = 413;
initialDepth = 1119.273532;
finalDepth = 1105.464696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.2863480000001
#   Actual altitude:          62.2863480000001
#   Commanded vehicle depth:  1105.464696 
#   Seafloor depth:           -1167.751044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.359905 meters
#   Minimum depth: 1169.273532 meters looking forward 200.000000 meters along route
#   Maximum depth: 1212.128320 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1119.273532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763580;
longitude = -122.093701;
duration = 413;
initialDepth = 1144.974770;
finalDepth = 1119.273532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.492872
#   Actual altitude:          70.492872
#   Commanded vehicle depth:  1119.273532 
#   Seafloor depth:           -1189.766404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.360147 meters
#   Minimum depth: 1194.974770 meters looking forward 200.000000 meters along route
#   Maximum depth: 1235.113806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1144.974770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762769;
longitude = -122.094270;
duration = 413;
initialDepth = 1164.805902;
finalDepth = 1144.974770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.492872
#   Actual altitude:          70.492872
#   Commanded vehicle depth:  1144.97477 
#   Seafloor depth:           -1211.843559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.360390 meters
#   Minimum depth: 1214.805902 meters looking forward 200.000000 meters along route
#   Maximum depth: 1242.619627 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1164.805902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761958;
longitude = -122.094840;
duration = 413;
initialDepth = 1187.825102;
finalDepth = 1164.805902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.8503469999998
#   Actual altitude:          73.8503469999998
#   Commanded vehicle depth:  1164.805902 
#   Seafloor depth:           -1238.656249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 105.619371 meters
#   Minimum depth: 1237.825102 meters looking forward 200.000000 meters along route
#   Maximum depth: 1262.266504 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1187.825102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761147;
longitude = -122.095410;
duration = 422;
initialDepth = 1202.787293;
finalDepth = 1187.825102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       73.8503469999998
#   Actual altitude:          73.8503469999998
#   Commanded vehicle depth:  1187.825102 
#   Seafloor depth:           -1244.580484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 150.042638 meters
#   Minimum depth: 1252.787293 meters looking forward 200.000000 meters along route
#   Maximum depth: 1271.994463 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1202.787293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760318;
longitude = -122.095992;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 1195.836609;
finalDepth = 1202.787293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.623779
#   Actual altitude:          62.623779
#   Commanded vehicle depth:  1202.787293 
#   Seafloor depth:           -1265.411072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 174.232880 meters
#   Minimum depth: 1245.836609 meters looking forward 200.000000 meters along route
#   Maximum depth: 1259.658741 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1195.836609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759652;
longitude = -122.094529;
duration = 696;
# abortOnTimeout    = True; 
initialDepth = 1178.392818;
finalDepth = 1195.836609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.623779
#   Actual altitude:          62.623779
#   Commanded vehicle depth:  1195.836609 
#   Seafloor depth:           -1258.043884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.436462 meters
#   Minimum depth: 1228.392818 meters looking forward 200.000000 meters along route
#   Maximum depth: 1252.123160 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1178.392818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761018;
longitude = -122.093567;
duration = 405;
initialDepth = 1157.113286;
finalDepth = 1178.392818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.6741749999999
#   Actual altitude:          66.6741749999999
#   Commanded vehicle depth:  1178.392818 
#   Seafloor depth:           -1245.066993
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.436227 meters
#   Minimum depth: 1207.113286 meters looking forward 200.000000 meters along route
#   Maximum depth: 1243.549301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1157.113286 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761814;
longitude = -122.093007;
duration = 405;
initialDepth = 1127.252260;
finalDepth = 1157.113286;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.6322519999999
#   Actual altitude:          69.6322519999999
#   Commanded vehicle depth:  1157.113286 
#   Seafloor depth:           -1226.745538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.435994 meters
#   Minimum depth: 1177.252260 meters looking forward 200.000000 meters along route
#   Maximum depth: 1224.197042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1127.252260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762610;
longitude = -122.092447;
duration = 405;
initialDepth = 1113.473698;
finalDepth = 1127.252260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.0196410000001
#   Actual altitude:          79.0196410000001
#   Commanded vehicle depth:  1127.25226 
#   Seafloor depth:           -1206.271901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.754333 meters
#   Minimum depth: 1163.473698 meters looking forward 200.000000 meters along route
#   Maximum depth: 1202.608927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1113.473698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763405;
longitude = -122.091886;
duration = 411;
initialDepth = 1107.192199;
finalDepth = 1113.473698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.0196410000001
#   Actual altitude:          79.0196410000001
#   Commanded vehicle depth:  1113.473698 
#   Seafloor depth:           -1182.050768
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.116950 meters
#   Minimum depth: 1157.192199 meters looking forward 200.000000 meters along route
#   Maximum depth: 1174.018734 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1107.192199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764211;
longitude = -122.091319;
duration = 400;
initialDepth = 1100.475610;
finalDepth = 1107.192199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.57707
#   Actual altitude:          68.57707
#   Commanded vehicle depth:  1107.192199 
#   Seafloor depth:           -1165.276377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.435291 meters
#   Minimum depth: 1150.475610 meters looking forward 200.000000 meters along route
#   Maximum depth: 1161.432025 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1100.475610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764996;
longitude = -122.090766;
duration = 405;
initialDepth = 1082.685846;
finalDepth = 1100.475610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0841779999998
#   Actual altitude:          58.0841779999998
#   Commanded vehicle depth:  1100.47561 
#   Seafloor depth:           -1157.717401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.435056 meters
#   Minimum depth: 1132.685846 meters looking forward 200.000000 meters along route
#   Maximum depth: 1158.302545 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1082.685846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765792;
longitude = -122.090206;
duration = 405;
initialDepth = 1071.508765;
finalDepth = 1082.685846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.75153
#   Actual altitude:          68.75153
#   Commanded vehicle depth:  1082.685846 
#   Seafloor depth:           -1151.437376
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.434821 meters
#   Minimum depth: 1121.508765 meters looking forward 200.000000 meters along route
#   Maximum depth: 1150.876395 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1071.508765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766587;
longitude = -122.089646;
duration = 405;
initialDepth = 1058.954039;
finalDepth = 1071.508765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.75153
#   Actual altitude:          68.75153
#   Commanded vehicle depth:  1071.508765 
#   Seafloor depth:           -1131.995349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.434588 meters
#   Minimum depth: 1108.954039 meters looking forward 200.000000 meters along route
#   Maximum depth: 1131.403648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1058.954039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767383;
longitude = -122.089086;
duration = 405;
initialDepth = 1048.755141;
finalDepth = 1058.954039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.3646840000001
#   Actual altitude:          63.3646840000001
#   Commanded vehicle depth:  1058.954039 
#   Seafloor depth:           -1122.318723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.434353 meters
#   Minimum depth: 1098.755141 meters looking forward 200.000000 meters along route
#   Maximum depth: 1121.233832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1048.755141 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768179;
longitude = -122.088525;
duration = 405;
initialDepth = 1039.310914;
finalDepth = 1048.755141;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.3646840000001
#   Actual altitude:          63.3646840000001
#   Commanded vehicle depth:  1048.755141 
#   Seafloor depth:           -1108.922830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.434119 meters
#   Minimum depth: 1089.310914 meters looking forward 200.000000 meters along route
#   Maximum depth: 1109.066068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1039.310914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768974;
longitude = -122.087965;
duration = 405;
initialDepth = 1027.933417;
finalDepth = 1039.310914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.320962
#   Actual altitude:          63.320962
#   Commanded vehicle depth:  1039.310914 
#   Seafloor depth:           -1102.631876
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.433885 meters
#   Minimum depth: 1077.933417 meters looking forward 200.000000 meters along route
#   Maximum depth: 1097.469569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1027.933417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769770;
longitude = -122.087405;
duration = 405;
initialDepth = 1012.473788;
finalDepth = 1027.933417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.320962
#   Actual altitude:          63.320962
#   Commanded vehicle depth:  1027.933417 
#   Seafloor depth:           -1090.344214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.433650 meters
#   Minimum depth: 1062.473788 meters looking forward 200.000000 meters along route
#   Maximum depth: 1088.371514 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1012.473788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770565;
longitude = -122.086845;
duration = 405;
initialDepth = 1001.658550;
finalDepth = 1012.473788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.5237219999999
#   Actual altitude:          65.5237219999999
#   Commanded vehicle depth:  1012.473788 
#   Seafloor depth:           -1077.997510
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.433416 meters
#   Minimum depth: 1051.658550 meters looking forward 200.000000 meters along route
#   Maximum depth: 1077.762463 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1001.658550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771361;
longitude = -122.086285;
duration = 405;
initialDepth = 993.159090;
finalDepth = 1001.658550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.5237219999999
#   Actual altitude:          65.5237219999999
#   Commanded vehicle depth:  1001.65855 
#   Seafloor depth:           -1063.239554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.591951 meters
#   Minimum depth: 1043.159090 meters looking forward 200.000000 meters along route
#   Maximum depth: 1064.720776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 993.159090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772156;
longitude = -122.085725;
duration = 406;
initialDepth = 959.638334;
finalDepth = 993.159090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5810039999999
#   Actual altitude:          61.5810039999999
#   Commanded vehicle depth:  993.15909 
#   Seafloor depth:           -1053.216084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.274179 meters
#   Minimum depth: 1009.638334 meters looking forward 200.000000 meters along route
#   Maximum depth: 1052.803698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 959.638334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772953;
longitude = -122.085164;
duration = 405;
initialDepth = 958.322090;
finalDepth = 959.638334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.5832130000001
#   Actual altitude:          83.5832130000001
#   Commanded vehicle depth:  959.638334 
#   Seafloor depth:           -1043.221547
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.432713 meters
#   Minimum depth: 1008.322090 meters looking forward 200.000000 meters along route
#   Maximum depth: 1041.497083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 958.322090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773747;
longitude = -122.084604;
duration = 405;
initialDepth = 958.322090;
finalDepth = 958.322090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.5832130000001
#   Actual altitude:          83.5832130000001
#   Commanded vehicle depth:  958.32209 
#   Seafloor depth:           -1013.825674
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.432479 meters
#   Minimum depth: 1008.322090 meters looking forward 200.000000 meters along route
#   Maximum depth: 1024.005387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 958.322090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774543;
longitude = -122.084044;
duration = 405;
initialDepth = 950.735117;
finalDepth = 958.322090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.257527
#   Actual altitude:          59.257527
#   Commanded vehicle depth:  958.32209 
#   Seafloor depth:           -1017.579617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.432245 meters
#   Minimum depth: 1000.735117 meters looking forward 200.000000 meters along route
#   Maximum depth: 1024.005387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 950.735117 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775339;
longitude = -122.083484;
duration = 405;
initialDepth = 931.428048;
finalDepth = 950.735117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0307260000001
#   Actual altitude:          61.0307260000001
#   Commanded vehicle depth:  950.735117 
#   Seafloor depth:           -1011.765843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.432011 meters
#   Minimum depth: 981.428048 meters looking forward 200.000000 meters along route
#   Maximum depth: 1013.531018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 931.428048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776134;
longitude = -122.082924;
duration = 405;
initialDepth = 916.813928;
finalDepth = 931.428048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.485534
#   Actual altitude:          68.485534
#   Commanded vehicle depth:  931.428048 
#   Seafloor depth:           -999.913582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.002549 meters
#   Minimum depth: 966.813928 meters looking forward 200.000000 meters along route
#   Maximum depth: 998.126993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.813928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776930;
longitude = -122.082364;
duration = 408;
initialDepth = 901.667925;
finalDepth = 916.813928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.485534
#   Actual altitude:          68.485534
#   Commanded vehicle depth:  916.813928 
#   Seafloor depth:           -981.068825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.860769 meters
#   Minimum depth: 951.667925 meters looking forward 200.000000 meters along route
#   Maximum depth: 979.830627 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.667925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777730;
longitude = -122.081800;
duration = 403;
initialDepth = 888.417968;
finalDepth = 901.667925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.157462
#   Actual altitude:          65.157462
#   Commanded vehicle depth:  901.667925 
#   Seafloor depth:           -966.825387
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.431308 meters
#   Minimum depth: 938.417968 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.220737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.417968 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778521;
longitude = -122.081243;
duration = 405;
initialDepth = 871.272902;
finalDepth = 888.417968;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.157462
#   Actual altitude:          65.157462
#   Commanded vehicle depth:  888.417968 
#   Seafloor depth:           -951.537012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.431073 meters
#   Minimum depth: 921.272902 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.357349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.272902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779316;
longitude = -122.080683;
duration = 405;
initialDepth = 862.888765;
finalDepth = 871.272902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8082159999999
#   Actual altitude:          67.8082159999999
#   Commanded vehicle depth:  871.272902 
#   Seafloor depth:           -939.081118
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.430840 meters
#   Minimum depth: 912.888765 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.306707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.888765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780112;
longitude = -122.080123;
duration = 405;
initialDepth = 840.670877;
finalDepth = 862.888765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.8082159999999
#   Actual altitude:          67.8082159999999
#   Commanded vehicle depth:  862.888765 
#   Seafloor depth:           -921.205349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.430605 meters
#   Minimum depth: 890.670877 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.082532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 840.670877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780907;
longitude = -122.079563;
duration = 405;
initialDepth = 821.083609;
finalDepth = 840.670877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.039585
#   Actual altitude:          72.039585
#   Commanded vehicle depth:  840.670877 
#   Seafloor depth:           -912.710462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.413137 meters
#   Minimum depth: 871.083609 meters looking forward 200.000000 meters along route
#   Maximum depth: 913.343719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 821.083609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781703;
longitude = -122.079003;
duration = 409;
initialDepth = 813.441465;
finalDepth = 821.083609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.039585
#   Actual altitude:          72.039585
#   Commanded vehicle depth:  821.083609 
#   Seafloor depth:           -890.615155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.447371 meters
#   Minimum depth: 863.441465 meters looking forward 200.000000 meters along route
#   Maximum depth: 891.089366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.441465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782506;
longitude = -122.078437;
duration = 401;
initialDepth = 790.914003;
finalDepth = 813.441465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.5315459999999
#   Actual altitude:          69.5315459999999
#   Commanded vehicle depth:  813.441465 
#   Seafloor depth:           -870.563652
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.429902 meters
#   Minimum depth: 840.914003 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.568939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.914003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783294;
longitude = -122.077882;
duration = 405;
initialDepth = 749.073679;
finalDepth = 790.914003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.0768
#   Actual altitude:          73.0768
#   Commanded vehicle depth:  790.914003 
#   Seafloor depth:           -863.990803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.429668 meters
#   Minimum depth: 799.073679 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.671400 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 749.073679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784090;
longitude = -122.077322;
duration = 405;
initialDepth = 722.688353;
finalDepth = 749.073679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.2631160000001
#   Actual altitude:          85.2631160000001
#   Commanded vehicle depth:  749.073679 
#   Seafloor depth:           -834.336795
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.429434 meters
#   Minimum depth: 772.688353 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.425887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 722.688353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784885;
longitude = -122.076762;
duration = 405;
initialDepth = 699.450003;
finalDepth = 722.688353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.2631160000001
#   Actual altitude:          85.2631160000001
#   Commanded vehicle depth:  722.688353 
#   Seafloor depth:           -796.876375
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.429200 meters
#   Minimum depth: 749.450003 meters looking forward 200.000000 meters along route
#   Maximum depth: 795.555272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.450003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785681;
longitude = -122.076202;
duration = 405;
initialDepth = 666.566123;
finalDepth = 699.450003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.5967989999999
#   Actual altitude:          76.5967989999999
#   Commanded vehicle depth:  699.450003 
#   Seafloor depth:           -776.046802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.823713 meters
#   Minimum depth: 716.566123 meters looking forward 200.000000 meters along route
#   Maximum depth: 772.832110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 666.566123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786476;
longitude = -122.075642;
duration = 411;
initialDepth = 640.398545;
finalDepth = 666.566123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.608144
#   Actual altitude:          82.608144
#   Commanded vehicle depth:  666.566123 
#   Seafloor depth:           -749.174267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.033984 meters
#   Minimum depth: 690.398545 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.786398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.398545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787283;
longitude = -122.075074;
duration = 400;
initialDepth = 614.202060;
finalDepth = 640.398545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.608144
#   Actual altitude:          82.608144
#   Commanded vehicle depth:  640.398545 
#   Seafloor depth:           -715.670421
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.428497 meters
#   Minimum depth: 664.202060 meters looking forward 200.000000 meters along route
#   Maximum depth: 715.609355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 614.202060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788067;
longitude = -122.074521;
duration = 405;
initialDepth = 589.396651;
finalDepth = 614.202060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.271876
#   Actual altitude:          75.271876
#   Commanded vehicle depth:  614.20206 
#   Seafloor depth:           -689.345144
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.428263 meters
#   Minimum depth: 639.396651 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.020417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 589.396651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788863;
longitude = -122.073961;
duration = 405;
initialDepth = 573.293204;
finalDepth = 589.396651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.143084
#   Actual altitude:          75.143084
#   Commanded vehicle depth:  589.396651 
#   Seafloor depth:           -662.077231
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.428029 meters
#   Minimum depth: 623.293204 meters looking forward 200.000000 meters along route
#   Maximum depth: 661.129814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 573.293204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789659;
longitude = -122.073401;
duration = 405;
initialDepth = 566.445200;
finalDepth = 573.293204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.68058
#   Actual altitude:          72.68058
#   Commanded vehicle depth:  573.293204 
#   Seafloor depth:           -639.439493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.427795 meters
#   Minimum depth: 616.445200 meters looking forward 200.000000 meters along route
#   Maximum depth: 639.532743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 566.445200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790454;
longitude = -122.072841;
duration = 405;
initialDepth = 502.165962;
finalDepth = 566.445200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.146289
#   Actual altitude:          66.146289
#   Commanded vehicle depth:  566.4452 
#   Seafloor depth:           -623.974030
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 103.234277 meters
#   Minimum depth: 552.165962 meters looking forward 200.000000 meters along route
#   Maximum depth: 632.263038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.165962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791250;
longitude = -122.072281;
duration = 412;
initialDepth = 372.362752;
finalDepth = 502.165962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.147515
#   Actual altitude:          100
#   Commanded vehicle depth:  502.165962 
#   Seafloor depth:           -616.313477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 103.411003 meters
#   Minimum depth: 422.362752 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.041457 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.362752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792059;
longitude = -122.071711;
duration = 413;
initialDepth = 372.362752;
finalDepth = 372.362752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       178.392334
#   Actual altitude:          100
#   Commanded vehicle depth:  372.362752 
#   Seafloor depth:           -550.755086
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 111.106033 meters
#   Minimum depth: 422.362752 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.424100 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.362752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792871;
longitude = -122.071140;
duration = 444;
initialDepth = 390.696524;
finalDepth = 372.362752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       178.392334
#   Actual altitude:          100
#   Commanded vehicle depth:  372.362752 
#   Seafloor depth:           -495.216860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 167.482036 meters
#   Minimum depth: 440.696524 meters looking forward 200.000000 meters along route
#   Maximum depth: 475.133336 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.696524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793742;
longitude = -122.070526;
duration = 669;
# abortOnTimeout    = True; 
initialDepth = 410.937476;
finalDepth = 390.696524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       122.854108
#   Actual altitude:          100
#   Commanded vehicle depth:  390.696524 
#   Seafloor depth:           -443.947899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 88.002621 meters
#   Minimum depth: 460.937476 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.801020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 410.937476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792450;
longitude = -122.069555;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 423.713745;
finalDepth = 410.937476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.776269
#   Actual altitude:          62.776269
#   Commanded vehicle depth:  410.937476 
#   Seafloor depth:           -473.713745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.591788 meters
#   Minimum depth: 473.713745 meters looking forward 200.000000 meters along route
#   Maximum depth: 541.728054 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.713745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791759;
longitude = -122.070040;
duration = 406;
initialDepth = 450.935182;
finalDepth = 423.713745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.678133
#   Actual altitude:          84.678133
#   Commanded vehicle depth:  423.713745 
#   Seafloor depth:           -508.391878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.592023 meters
#   Minimum depth: 505.181506 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.710416 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 450.935182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790962;
longitude = -122.070600;
duration = 406;
initialDepth = 478.156682;
finalDepth = 450.935182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.2930019340305
#   Actual altitude:          91.2930019340305
#   Commanded vehicle depth:  450.93518206597 
#   Seafloor depth:           -542.228184
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.112284 meters
#   Minimum depth: 544.231108 meters looking forward 200.000000 meters along route
#   Maximum depth: 638.463501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.156682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790165;
longitude = -122.071161;
duration = 412;
initialDepth = 505.785535;
finalDepth = 478.156682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.670239900001
#   Actual altitude:          100
#   Commanded vehicle depth:  478.156682099999 
#   Seafloor depth:           -593.826922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.072464 meters
#   Minimum depth: 602.065300 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.886550 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 505.785535 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789356;
longitude = -122.071729;
duration = 400;
initialDepth = 532.599870;
finalDepth = 505.785535;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       133.710067166014
#   Actual altitude:          100
#   Commanded vehicle depth:  505.785534833986 
#   Seafloor depth:           -639.495602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.592726 meters
#   Minimum depth: 642.768655 meters looking forward 200.000000 meters along route
#   Maximum depth: 682.072765 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 532.599870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788570;
longitude = -122.072281;
duration = 406;
initialDepth = 559.821559;
finalDepth = 532.599870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       133.710067166014
#   Actual altitude:          100
#   Commanded vehicle depth:  532.599870268387 
#   Seafloor depth:           -658.106047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.592959 meters
#   Minimum depth: 658.450664 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.577489 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.821559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787773;
longitude = -122.072841;
duration = 406;
initialDepth = 587.043310;
finalDepth = 559.821559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       125.506176731613
#   Actual altitude:          100
#   Commanded vehicle depth:  559.821558670696 
#   Seafloor depth:           -683.285093
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.593194 meters
#   Minimum depth: 684.919438 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.559794 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 587.043310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786976;
longitude = -122.073401;
duration = 406;
initialDepth = 614.265123;
finalDepth = 587.043310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       123.463534329304
#   Actual altitude:          100
#   Commanded vehicle depth:  587.043309505164 
#   Seafloor depth:           -698.703807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.593428 meters
#   Minimum depth: 700.870960 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.607118 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 614.265123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786179;
longitude = -122.073961;
duration = 406;
initialDepth = 641.487000;
finalDepth = 614.265123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       111.660497494836
#   Actual altitude:          100
#   Commanded vehicle depth:  614.265123307692 
#   Seafloor depth:           -712.939495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.226051 meters
#   Minimum depth: 712.814112 meters looking forward 200.000000 meters along route
#   Maximum depth: 776.409590 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.487000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785381;
longitude = -122.074521;
duration = 408;
initialDepth = 668.878387;
finalDepth = 641.487000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.6743716923078
#   Actual altitude:          98.6743716923078
#   Commanded vehicle depth:  641.48699981033 
#   Seafloor depth:           -727.106507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.961509 meters
#   Minimum depth: 735.204094 meters looking forward 200.000000 meters along route
#   Maximum depth: 805.277329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 668.878387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784579;
longitude = -122.075085;
duration = 403;
initialDepth = 695.930941;
finalDepth = 668.878387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.968514868097
#   Actual altitude:          100
#   Commanded vehicle depth:  668.878387131903 
#   Seafloor depth:           -776.846902
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.594131 meters
#   Minimum depth: 776.109469 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.885701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.930941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783787;
longitude = -122.075642;
duration = 406;
initialDepth = 723.153006;
finalDepth = 695.930941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.968514868097
#   Actual altitude:          100
#   Commanded vehicle depth:  695.930941451833 
#   Seafloor depth:           -803.699406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.594365 meters
#   Minimum depth: 804.016962 meters looking forward 200.000000 meters along route
#   Maximum depth: 862.817331 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 723.153006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782990;
longitude = -122.076202;
duration = 406;
initialDepth = 750.375134;
finalDepth = 723.153006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       107.768464548167
#   Actual altitude:          100
#   Commanded vehicle depth:  723.153006322751 
#   Seafloor depth:           -829.793800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.594599 meters
#   Minimum depth: 831.152691 meters looking forward 200.000000 meters along route
#   Maximum depth: 886.660153 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 750.375134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782192;
longitude = -122.076762;
duration = 406;
initialDepth = 777.597324;
finalDepth = 750.375134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.022369106223
#   Actual altitude:          100
#   Commanded vehicle depth:  750.375133893777 
#   Seafloor depth:           -868.397503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.594834 meters
#   Minimum depth: 868.420439 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.539822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 777.597324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781395;
longitude = -122.077322;
duration = 406;
initialDepth = 804.819577;
finalDepth = 777.597324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.022369106223
#   Actual altitude:          100
#   Commanded vehicle depth:  777.597324164914 
#   Seafloor depth:           -887.005314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.595068 meters
#   Minimum depth: 885.703928 meters looking forward 200.000000 meters along route
#   Maximum depth: 916.970119 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.819577 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780598;
longitude = -122.077882;
duration = 406;
initialDepth = 832.041893;
finalDepth = 804.819577;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.407989835086
#   Actual altitude:          100
#   Commanded vehicle depth:  804.81957740411 
#   Seafloor depth:           -903.939802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.106184 meters
#   Minimum depth: 907.445853 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.676003 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.041893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779801;
longitude = -122.078443;
duration = 412;
initialDepth = 859.669112;
finalDepth = 832.041893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.1202245958905
#   Actual altitude:          99.1202245958905
#   Commanded vehicle depth:  832.041893343415 
#   Seafloor depth:           -917.077132
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.084655 meters
#   Minimum depth: 920.788121 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.854602 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.669112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778991;
longitude = -122.079011;
duration = 400;
initialDepth = 886.486714;
finalDepth = 859.669112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.0352386565853
#   Actual altitude:          85.0352386565853
#   Commanded vehicle depth:  859.669111587357 
#   Seafloor depth:           -934.125401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.595771 meters
#   Minimum depth: 937.536841 meters looking forward 200.000000 meters along route
#   Maximum depth: 980.327294 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.486714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778206;
longitude = -122.079563;
duration = 406;
initialDepth = 907.384110;
finalDepth = 886.486714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.4562894126428
#   Actual altitude:          74.4562894126428
#   Commanded vehicle depth:  886.486713590304 
#   Seafloor depth:           -957.203923
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.596006 meters
#   Minimum depth: 957.384110 meters looking forward 200.000000 meters along route
#   Maximum depth: 996.816103 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.384110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777409;
longitude = -122.080123;
duration = 406;
initialDepth = 932.260491;
finalDepth = 907.384110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.940458
#   Actual altitude:          73.940458
#   Commanded vehicle depth:  907.38411 
#   Seafloor depth:           -981.324568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.596239 meters
#   Minimum depth: 982.260491 meters looking forward 200.000000 meters along route
#   Maximum depth: 1014.129884 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 932.260491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776611;
longitude = -122.080683;
duration = 406;
initialDepth = 947.644730;
finalDepth = 932.260491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.940458
#   Actual altitude:          73.940458
#   Commanded vehicle depth:  932.260491 
#   Seafloor depth:           -997.118631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.596474 meters
#   Minimum depth: 997.644730 meters looking forward 200.000000 meters along route
#   Maximum depth: 1023.610966 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.644730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775814;
longitude = -122.081243;
duration = 406;
initialDepth = 957.048752;
finalDepth = 947.644730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.14942
#   Actual altitude:          65.14942
#   Commanded vehicle depth:  947.64473 
#   Seafloor depth:           -1012.794150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.219924 meters
#   Minimum depth: 1007.048752 meters looking forward 200.000000 meters along route
#   Maximum depth: 1027.615894 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 957.048752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775017;
longitude = -122.081804;
duration = 408;
initialDepth = 971.694238;
finalDepth = 957.048752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4533779999999
#   Actual altitude:          66.4533779999999
#   Commanded vehicle depth:  957.048752 
#   Seafloor depth:           -1023.502130
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.973727 meters
#   Minimum depth: 1021.694238 meters looking forward 200.000000 meters along route
#   Maximum depth: 1033.031002 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 971.694238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774215;
longitude = -122.082367;
duration = 403;
initialDepth = 975.776667;
finalDepth = 971.694238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4533779999999
#   Actual altitude:          66.4533779999999
#   Commanded vehicle depth:  971.694238 
#   Seafloor depth:           -1027.667926
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.597176 meters
#   Minimum depth: 1025.776667 meters looking forward 200.000000 meters along route
#   Maximum depth: 1040.360744 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 975.776667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773422;
longitude = -122.082924;
duration = 406;
initialDepth = 982.609697;
finalDepth = 975.776667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.973688
#   Actual altitude:          55.973688
#   Commanded vehicle depth:  975.776667 
#   Seafloor depth:           -1031.714294
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.597411 meters
#   Minimum depth: 1032.609697 meters looking forward 200.000000 meters along route
#   Maximum depth: 1046.858227 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 982.609697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772625;
longitude = -122.083484;
duration = 406;
initialDepth = 988.750024;
finalDepth = 982.609697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.937627
#   Actual altitude:          55.937627
#   Commanded vehicle depth:  982.609697 
#   Seafloor depth:           -1038.420817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.597646 meters
#   Minimum depth: 1038.750024 meters looking forward 200.000000 meters along route
#   Maximum depth: 1057.695191 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 988.750024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771828;
longitude = -122.084044;
duration = 406;
initialDepth = 997.462816;
finalDepth = 988.750024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.729261
#   Actual altitude:          57.729261
#   Commanded vehicle depth:  988.750024 
#   Seafloor depth:           -1046.479285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.597880 meters
#   Minimum depth: 1047.462816 meters looking forward 200.000000 meters along route
#   Maximum depth: 1064.574426 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 997.462816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771031;
longitude = -122.084604;
duration = 406;
initialDepth = 1003.195511;
finalDepth = 997.462816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.729261
#   Actual altitude:          57.729261
#   Commanded vehicle depth:  997.462816 
#   Seafloor depth:           -1052.632383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.598114 meters
#   Minimum depth: 1053.195511 meters looking forward 200.000000 meters along route
#   Maximum depth: 1076.530690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1003.195511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770233;
longitude = -122.085164;
duration = 406;
initialDepth = 1019.816196;
finalDepth = 1003.195511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0508170000001
#   Actual altitude:          62.0508170000001
#   Commanded vehicle depth:  1003.195511 
#   Seafloor depth:           -1065.246328
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.100083 meters
#   Minimum depth: 1069.816196 meters looking forward 200.000000 meters along route
#   Maximum depth: 1085.950612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1019.816196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769436;
longitude = -122.085725;
duration = 412;
initialDepth = 1023.469176;
finalDepth = 1019.816196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0508170000001
#   Actual altitude:          62.0508170000001
#   Commanded vehicle depth:  1019.816196 
#   Seafloor depth:           -1076.356656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.096848 meters
#   Minimum depth: 1073.469176 meters looking forward 200.000000 meters along route
#   Maximum depth: 1099.362841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1023.469176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768627;
longitude = -122.086293;
duration = 400;
initialDepth = 1035.176384;
finalDepth = 1023.469176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.591068
#   Actual altitude:          62.591068
#   Commanded vehicle depth:  1023.469176 
#   Seafloor depth:           -1086.060244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.598817 meters
#   Minimum depth: 1085.176384 meters looking forward 200.000000 meters along route
#   Maximum depth: 1113.451143 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1035.176384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767842;
longitude = -122.086845;
duration = 406;
initialDepth = 1051.624352;
finalDepth = 1035.176384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0043599999999
#   Actual altitude:          66.0043599999999
#   Commanded vehicle depth:  1035.176384 
#   Seafloor depth:           -1101.180744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.599051 meters
#   Minimum depth: 1101.624352 meters looking forward 200.000000 meters along route
#   Maximum depth: 1120.139526 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1051.624352 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767044;
longitude = -122.087405;
duration = 406;
initialDepth = 1061.491751;
finalDepth = 1051.624352;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0043599999999
#   Actual altitude:          66.0043599999999
#   Commanded vehicle depth:  1051.624352 
#   Seafloor depth:           -1112.011426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.599286 meters
#   Minimum depth: 1111.491751 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.650361 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1061.491751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766247;
longitude = -122.087965;
duration = 406;
initialDepth = 1069.012446;
finalDepth = 1061.491751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.387074
#   Actual altitude:          60.387074
#   Commanded vehicle depth:  1061.491751 
#   Seafloor depth:           -1120.507880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.599520 meters
#   Minimum depth: 1119.012446 meters looking forward 200.000000 meters along route
#   Maximum depth: 1146.437922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1069.012446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765450;
longitude = -122.088525;
duration = 406;
initialDepth = 1085.620847;
finalDepth = 1069.012446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.7044760000001
#   Actual altitude:          64.7044760000001
#   Commanded vehicle depth:  1069.012446 
#   Seafloor depth:           -1133.716922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.213797 meters
#   Minimum depth: 1135.620847 meters looking forward 200.000000 meters along route
#   Maximum depth: 1150.298398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1085.620847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764653;
longitude = -122.089086;
duration = 408;
initialDepth = 1093.914757;
finalDepth = 1085.620847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.7044760000001
#   Actual altitude:          64.7044760000001
#   Commanded vehicle depth:  1085.620847 
#   Seafloor depth:           -1143.954176
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.366229 meters
#   Minimum depth: 1143.914757 meters looking forward 200.000000 meters along route
#   Maximum depth: 1166.972358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1093.914757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763851;
longitude = -122.089649;
duration = 413;
initialDepth = 1096.546542;
finalDepth = 1093.914757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.333329
#   Actual altitude:          58.333329
#   Commanded vehicle depth:  1093.914757 
#   Seafloor depth:           -1150.214382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.366472 meters
#   Minimum depth: 1146.546542 meters looking forward 200.000000 meters along route
#   Maximum depth: 1199.549360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1096.546542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763039;
longitude = -122.090219;
duration = 413;
initialDepth = 1117.990443;
finalDepth = 1096.546542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.9503970000001
#   Actual altitude:          68.9503970000001
#   Commanded vehicle depth:  1096.546542 
#   Seafloor depth:           -1165.496939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.366714 meters
#   Minimum depth: 1167.990443 meters looking forward 200.000000 meters along route
#   Maximum depth: 1219.846404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1117.990443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762228;
longitude = -122.090789;
duration = 413;
initialDepth = 1145.369585;
finalDepth = 1117.990443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.86778
#   Actual altitude:          76.86778
#   Commanded vehicle depth:  1117.990443 
#   Seafloor depth:           -1194.858223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.366957 meters
#   Minimum depth: 1195.369585 meters looking forward 200.000000 meters along route
#   Maximum depth: 1227.711281 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1145.369585 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761417;
longitude = -122.091359;
duration = 413;
initialDepth = 1169.626974;
finalDepth = 1145.369585;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.86778
#   Actual altitude:          76.86778
#   Commanded vehicle depth:  1145.369585 
#   Seafloor depth:           -1218.538630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.367200 meters
#   Minimum depth: 1219.626974 meters looking forward 200.000000 meters along route
#   Maximum depth: 1229.090785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1169.626974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760606;
longitude = -122.091929;
duration = 413;
initialDepth = 1172.798606;
finalDepth = 1169.626974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.1690450000001
#   Actual altitude:          73.1690450000001
#   Commanded vehicle depth:  1169.626974 
#   Seafloor depth:           -1225.753219
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.095215 meters
#   Minimum depth: 1222.798606 meters looking forward 200.000000 meters along route
#   Maximum depth: 1242.945626 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1172.798606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759795;
longitude = -122.092499;
duration = 412;
initialDepth = 1142.529938;
finalDepth = 1172.798606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.1262449999999
#   Actual altitude:          56.1262449999999
#   Commanded vehicle depth:  1172.798606 
#   Seafloor depth:           -1225.507093
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 150.044673 meters
#   Minimum depth: 1192.529938 meters looking forward 200.000000 meters along route
#   Maximum depth: 1245.460055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1142.529938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758986;
longitude = -122.093067;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 1129.261276;
finalDepth = 1142.529938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       101.012939
#   Actual altitude:          100
#   Commanded vehicle depth:  1142.529938 
#   Seafloor depth:           -1243.542877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 90.849997 meters
#   Minimum depth: 1179.261276 meters looking forward 200.000000 meters along route
#   Maximum depth: 1235.060873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1129.261276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758320;
longitude = -122.091604;
duration = 363;
# abortOnTimeout    = True; 
initialDepth = 1129.261276;
finalDepth = 1129.261276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.012939
#   Actual altitude:          100
#   Commanded vehicle depth:  1129.261276 
#   Seafloor depth:           -1197.887817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.405698 meters
#   Minimum depth: 1179.261276 meters looking forward 200.000000 meters along route
#   Maximum depth: 1197.887817 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1129.261276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759032;
longitude = -122.091102;
duration = 405;
initialDepth = 1121.492990;
finalDepth = 1129.261276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.6265410000001
#   Actual altitude:          68.6265410000001
#   Commanded vehicle depth:  1129.261276 
#   Seafloor depth:           -1185.778602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.405463 meters
#   Minimum depth: 1171.492990 meters looking forward 200.000000 meters along route
#   Maximum depth: 1190.535140 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1121.492990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759828;
longitude = -122.090542;
duration = 405;
initialDepth = 1108.307704;
finalDepth = 1121.492990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.4816949999999
#   Actual altitude:          62.4816949999999
#   Commanded vehicle depth:  1121.49299 
#   Seafloor depth:           -1183.974685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.405229 meters
#   Minimum depth: 1158.307704 meters looking forward 200.000000 meters along route
#   Maximum depth: 1190.435867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1108.307704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760623;
longitude = -122.089982;
duration = 405;
initialDepth = 1108.307704;
finalDepth = 1108.307704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.4816949999999
#   Actual altitude:          62.4816949999999
#   Commanded vehicle depth:  1108.307704 
#   Seafloor depth:           -1169.816062
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.404995 meters
#   Minimum depth: 1158.307704 meters looking forward 200.000000 meters along route
#   Maximum depth: 1170.288602 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1108.307704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761418;
longitude = -122.089422;
duration = 405;
initialDepth = 1101.064954;
finalDepth = 1108.307704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.9295990000001
#   Actual altitude:          61.9295990000001
#   Commanded vehicle depth:  1108.307704 
#   Seafloor depth:           -1170.237303
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.404761 meters
#   Minimum depth: 1151.064954 meters looking forward 200.000000 meters along route
#   Maximum depth: 1169.929602 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1101.064954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762213;
longitude = -122.088862;
duration = 405;
initialDepth = 1085.175043;
finalDepth = 1101.064954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.9295990000001
#   Actual altitude:          61.9295990000001
#   Commanded vehicle depth:  1101.064954 
#   Seafloor depth:           -1158.787381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.404526 meters
#   Minimum depth: 1135.175043 meters looking forward 200.000000 meters along route
#   Maximum depth: 1161.702128 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1085.175043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763009;
longitude = -122.088301;
duration = 405;
initialDepth = 1069.038508;
finalDepth = 1085.175043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.4503589999999
#   Actual altitude:          62.4503589999999
#   Commanded vehicle depth:  1085.175043 
#   Seafloor depth:           -1147.625402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.404292 meters
#   Minimum depth: 1119.038508 meters looking forward 200.000000 meters along route
#   Maximum depth: 1147.428778 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1069.038508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763804;
longitude = -122.087741;
duration = 405;
initialDepth = 1042.997761;
finalDepth = 1069.038508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.4826959999998
#   Actual altitude:          65.4826959999998
#   Commanded vehicle depth:  1069.038508 
#   Seafloor depth:           -1134.521204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.404058 meters
#   Minimum depth: 1092.997761 meters looking forward 200.000000 meters along route
#   Maximum depth: 1135.276415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1042.997761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764599;
longitude = -122.087181;
duration = 405;
initialDepth = 1035.068445;
finalDepth = 1042.997761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.14969
#   Actual altitude:          77.14969
#   Commanded vehicle depth:  1042.997761 
#   Seafloor depth:           -1120.147451
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.945890 meters
#   Minimum depth: 1085.068445 meters looking forward 200.000000 meters along route
#   Maximum depth: 1121.455802 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1035.068445 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765394;
longitude = -122.086621;
duration = 407;
initialDepth = 1014.234208;
finalDepth = 1035.068445;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.14969
#   Actual altitude:          77.14969
#   Commanded vehicle depth:  1035.068445 
#   Seafloor depth:           -1093.312325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.861522 meters
#   Minimum depth: 1064.234208 meters looking forward 200.000000 meters along route
#   Maximum depth: 1097.915581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1014.234208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766194;
longitude = -122.086058;
duration = 403;
initialDepth = 996.953571;
finalDepth = 1014.234208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.2537139999999
#   Actual altitude:          71.2537139999999
#   Commanded vehicle depth:  1014.234208 
#   Seafloor depth:           -1085.487922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.403356 meters
#   Minimum depth: 1046.953571 meters looking forward 200.000000 meters along route
#   Maximum depth: 1089.693763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 996.953571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766985;
longitude = -122.085501;
duration = 405;
initialDepth = 986.236032;
finalDepth = 996.953571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.08394
#   Actual altitude:          73.08394
#   Commanded vehicle depth:  996.953571 
#   Seafloor depth:           -1070.037511
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.403120 meters
#   Minimum depth: 1036.236032 meters looking forward 200.000000 meters along route
#   Maximum depth: 1079.585543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 986.236032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767780;
longitude = -122.084940;
duration = 405;
initialDepth = 986.236032;
finalDepth = 986.236032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.08394
#   Actual altitude:          73.08394
#   Commanded vehicle depth:  986.236032 
#   Seafloor depth:           -1055.118183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.402887 meters
#   Minimum depth: 1036.236032 meters looking forward 200.000000 meters along route
#   Maximum depth: 1061.024017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 986.236032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768575;
longitude = -122.084380;
duration = 405;
initialDepth = 979.205446;
finalDepth = 986.236032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.882151
#   Actual altitude:          68.882151
#   Commanded vehicle depth:  986.236032 
#   Seafloor depth:           -1048.888971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.402652 meters
#   Minimum depth: 1029.205446 meters looking forward 200.000000 meters along route
#   Maximum depth: 1051.223267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 979.205446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769370;
longitude = -122.083820;
duration = 405;
initialDepth = 945.705642;
finalDepth = 979.205446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.977813
#   Actual altitude:          70.977813
#   Commanded vehicle depth:  979.205446 
#   Seafloor depth:           -1050.183259
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.605584 meters
#   Minimum depth: 995.705642 meters looking forward 200.000000 meters along route
#   Maximum depth: 1044.536009 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.705642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770166;
longitude = -122.083260;
duration = 410;
initialDepth = 926.493594;
finalDepth = 945.705642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.3392170000001
#   Actual altitude:          83.3392170000001
#   Commanded vehicle depth:  945.705642 
#   Seafloor depth:           -1029.044859
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.199019 meters
#   Minimum depth: 976.493594 meters looking forward 200.000000 meters along route
#   Maximum depth: 1029.658354 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 926.493594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770970;
longitude = -122.082693;
duration = 400;
initialDepth = 916.488691;
finalDepth = 926.493594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.3392170000001
#   Actual altitude:          83.3392170000001
#   Commanded vehicle depth:  926.493594 
#   Seafloor depth:           -1002.258179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.401949 meters
#   Minimum depth: 966.488691 meters looking forward 200.000000 meters along route
#   Maximum depth: 996.769090 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.488691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771756;
longitude = -122.082140;
duration = 405;
initialDepth = 903.746789;
finalDepth = 916.488691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.764585
#   Actual altitude:          75.764585
#   Commanded vehicle depth:  916.488691 
#   Seafloor depth:           -972.031420
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.401716 meters
#   Minimum depth: 953.746789 meters looking forward 200.000000 meters along route
#   Maximum depth: 991.612852 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.746789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772551;
longitude = -122.081579;
duration = 405;
initialDepth = 890.312355;
finalDepth = 903.746789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2477339999999
#   Actual altitude:          61.2477339999999
#   Commanded vehicle depth:  903.746789 
#   Seafloor depth:           -964.994523
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.401481 meters
#   Minimum depth: 940.312355 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.682161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.312355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773347;
longitude = -122.081019;
duration = 405;
initialDepth = 867.491609;
finalDepth = 890.312355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.407139
#   Actual altitude:          63.407139
#   Commanded vehicle depth:  890.312355 
#   Seafloor depth:           -953.719494
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.401247 meters
#   Minimum depth: 917.491609 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.282588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.491609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774142;
longitude = -122.080459;
duration = 405;
initialDepth = 863.463217;
finalDepth = 867.491609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.8274269999999
#   Actual altitude:          71.8274269999999
#   Commanded vehicle depth:  867.491609 
#   Seafloor depth:           -939.319036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.401013 meters
#   Minimum depth: 913.463217 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.272765 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.463217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774937;
longitude = -122.079899;
duration = 405;
initialDepth = 863.463217;
finalDepth = 863.463217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.8274269999999
#   Actual altitude:          71.8274269999999
#   Commanded vehicle depth:  863.463217 
#   Seafloor depth:           -917.398526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.400779 meters
#   Minimum depth: 913.463217 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.061998 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.463217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775732;
longitude = -122.079339;
duration = 405;
initialDepth = 868.140083;
finalDepth = 863.463217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.093286
#   Actual altitude:          59.093286
#   Commanded vehicle depth:  863.463217 
#   Seafloor depth:           -922.556503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.400544 meters
#   Minimum depth: 918.140083 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.761546 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.140083 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776528;
longitude = -122.078779;
duration = 405;
initialDepth = 881.287035;
finalDepth = 868.140083;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.381139
#   Actual altitude:          63.381139
#   Commanded vehicle depth:  868.140083 
#   Seafloor depth:           -931.521222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.400311 meters
#   Minimum depth: 931.287035 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.761546 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.287035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777323;
longitude = -122.078219;
duration = 405;
initialDepth = 877.534881;
finalDepth = 881.287035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.144703
#   Actual altitude:          79.144703
#   Commanded vehicle depth:  881.287035 
#   Seafloor depth:           -960.431738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.400076 meters
#   Minimum depth: 927.534881 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.401297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.534881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778118;
longitude = -122.077658;
duration = 405;
initialDepth = 856.793883;
finalDepth = 877.534881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.144703
#   Actual altitude:          79.144703
#   Commanded vehicle depth:  877.534881 
#   Seafloor depth:           -949.272492
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.899693 meters
#   Minimum depth: 906.793883 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.818210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.793883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778913;
longitude = -122.077098;
duration = 407;
initialDepth = 839.299005;
finalDepth = 856.793883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.737611
#   Actual altitude:          71.737611
#   Commanded vehicle depth:  856.793883 
#   Seafloor depth:           -927.083989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.899757 meters
#   Minimum depth: 889.299005 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.379717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.299005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779712;
longitude = -122.076535;
duration = 403;
initialDepth = 818.836086;
finalDepth = 839.299005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.2901059999999
#   Actual altitude:          70.2901059999999
#   Commanded vehicle depth:  839.299005 
#   Seafloor depth:           -906.784766
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.399373 meters
#   Minimum depth: 868.836086 meters looking forward 200.000000 meters along route
#   Maximum depth: 902.949442 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.836086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780504;
longitude = -122.075978;
duration = 405;
initialDepth = 779.602839;
finalDepth = 818.836086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.935985
#   Actual altitude:          71.935985
#   Commanded vehicle depth:  818.836086 
#   Seafloor depth:           -890.772071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.399140 meters
#   Minimum depth: 829.602839 meters looking forward 200.000000 meters along route
#   Maximum depth: 888.684886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.602839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781299;
longitude = -122.075418;
duration = 405;
initialDepth = 726.896166;
finalDepth = 779.602839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.977696
#   Actual altitude:          87.977696
#   Commanded vehicle depth:  779.602839 
#   Seafloor depth:           -867.580535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.398905 meters
#   Minimum depth: 776.896166 meters looking forward 200.000000 meters along route
#   Maximum depth: 867.400633 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.896166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782094;
longitude = -122.074858;
duration = 405;
initialDepth = 700.328193;
finalDepth = 726.896166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.624462
#   Actual altitude:          100
#   Commanded vehicle depth:  726.896166 
#   Seafloor depth:           -829.520628
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.398671 meters
#   Minimum depth: 750.328193 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.661695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.328193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782889;
longitude = -122.074297;
duration = 405;
initialDepth = 684.170905;
finalDepth = 700.328193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.624462
#   Actual altitude:          100
#   Commanded vehicle depth:  700.328193 
#   Seafloor depth:           -774.368265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.559361 meters
#   Minimum depth: 734.170905 meters looking forward 200.000000 meters along route
#   Maximum depth: 764.984785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.170905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783685;
longitude = -122.073737;
duration = 410;
initialDepth = 645.223755;
finalDepth = 684.170905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.0400719999999
#   Actual altitude:          74.0400719999999
#   Commanded vehicle depth:  684.170905 
#   Seafloor depth:           -750.639720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.237279 meters
#   Minimum depth: 695.223755 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.274483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 645.223755 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784489;
longitude = -122.073171;
duration = 400;
initialDepth = 614.228552;
finalDepth = 645.223755;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.193267
#   Actual altitude:          89.193267
#   Commanded vehicle depth:  645.223755 
#   Seafloor depth:           -734.417022
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.397968 meters
#   Minimum depth: 664.228552 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.808863 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 614.228552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785275;
longitude = -122.072617;
duration = 405;
initialDepth = 607.872852;
finalDepth = 614.228552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.193267
#   Actual altitude:          89.193267
#   Commanded vehicle depth:  614.228552 
#   Seafloor depth:           -692.777274
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.397735 meters
#   Minimum depth: 657.872852 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.261074 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 607.872852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786070;
longitude = -122.072057;
duration = 405;
initialDepth = 596.476355;
finalDepth = 607.872852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.548722
#   Actual altitude:          78.548722
#   Commanded vehicle depth:  607.872852 
#   Seafloor depth:           -663.819011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.397500 meters
#   Minimum depth: 646.476355 meters looking forward 200.000000 meters along route
#   Maximum depth: 667.765410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.476355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786866;
longitude = -122.071497;
duration = 405;
initialDepth = 560.098413;
finalDepth = 596.476355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.22534
#   Actual altitude:          64.22534
#   Commanded vehicle depth:  596.476355 
#   Seafloor depth:           -660.701695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.397266 meters
#   Minimum depth: 610.098413 meters looking forward 200.000000 meters along route
#   Maximum depth: 660.307234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 560.098413 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787661;
longitude = -122.070936;
duration = 405;
initialDepth = 526.056602;
finalDepth = 560.098413;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.3932209999999
#   Actual altitude:          88.3932209999999
#   Commanded vehicle depth:  560.098413 
#   Seafloor depth:           -648.491634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.219011 meters
#   Minimum depth: 576.056602 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.673086 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 526.056602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788456;
longitude = -122.070376;
duration = 412;
initialDepth = 474.719506;
finalDepth = 526.056602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.3932209999999
#   Actual altitude:          88.3932209999999
#   Commanded vehicle depth:  526.056602 
#   Seafloor depth:           -610.666142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.422196 meters
#   Minimum depth: 524.719506 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.877897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 474.719506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789266;
longitude = -122.069806;
duration = 413;
initialDepth = 422.522959;
finalDepth = 474.719506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.27996
#   Actual altitude:          100
#   Commanded vehicle depth:  474.719506 
#   Seafloor depth:           -574.999466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 111.098548 meters
#   Minimum depth: 472.522959 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.929455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.522959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790077;
longitude = -122.069235;
duration = 444;
initialDepth = 401.999497;
finalDepth = 422.522959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       100.41459
#   Actual altitude:          100
#   Commanded vehicle depth:  422.522959 
#   Seafloor depth:           -522.937549
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 167.483665 meters
#   Minimum depth: 451.999497 meters looking forward 200.000000 meters along route
#   Maximum depth: 482.690658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.999497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790948;
longitude = -122.068621;
duration = 669;
# abortOnTimeout    = True; 
initialDepth = 401.999497;
finalDepth = 401.999497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       100.41459
#   Actual altitude:          100
#   Commanded vehicle depth:  401.999497 
#   Seafloor depth:           -470.049416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 170.429026 meters
#   Minimum depth: 451.999497 meters looking forward 200.000000 meters along route
#   Maximum depth: 556.951947 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.999497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789656;
longitude = -122.067650;
duration = 681;
# abortOnTimeout    = True; 
initialDepth = 447.665816;
finalDepth = 401.999497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.049919
#   Actual altitude:          68.049919
#   Commanded vehicle depth:  401.999497 
#   Seafloor depth:           -453.288223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.233072 meters
#   Minimum depth: 515.379815 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.795681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 447.665816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788316;
longitude = -122.068584;
duration = 408;
initialDepth = 475.059085;
finalDepth = 447.665816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       112.319546932227
#   Actual altitude:          100
#   Commanded vehicle depth:  447.665816067773 
#   Seafloor depth:           -559.985363
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.233307 meters
#   Minimum depth: 562.510975 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.204606 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.059085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787512;
longitude = -122.069144;
duration = 408;
initialDepth = 502.452416;
finalDepth = 475.059085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       112.776095339407
#   Actual altitude:          100
#   Commanded vehicle depth:  475.059084660593 
#   Seafloor depth:           -587.835180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.233541 meters
#   Minimum depth: 589.660773 meters looking forward 200.000000 meters along route
#   Maximum depth: 634.031461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.452416 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786708;
longitude = -122.069704;
duration = 408;
initialDepth = 529.845810;
finalDepth = 502.452416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.550053778529
#   Actual altitude:          100
#   Commanded vehicle depth:  502.452416221471 
#   Seafloor depth:           -616.002470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.233775 meters
#   Minimum depth: 614.723794 meters looking forward 200.000000 meters along route
#   Maximum depth: 671.115975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 529.845810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785904;
longitude = -122.070264;
duration = 408;
initialDepth = 557.239267;
finalDepth = 529.845810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       113.550053778529
#   Actual altitude:          100
#   Commanded vehicle depth:  529.84581048246 
#   Seafloor depth:           -633.760216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.234010 meters
#   Minimum depth: 638.342759 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.741692 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.239267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785100;
longitude = -122.070824;
duration = 408;
initialDepth = 584.632787;
finalDepth = 557.239267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.290774556441
#   Actual altitude:          100
#   Commanded vehicle depth:  557.239267443559 
#   Seafloor depth:           -671.530042
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.234244 meters
#   Minimum depth: 675.309783 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.504011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 584.632787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784296;
longitude = -122.071385;
duration = 408;
initialDepth = 612.026370;
finalDepth = 584.632787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.290774556441
#   Actual altitude:          100
#   Commanded vehicle depth:  584.632787372716 
#   Seafloor depth:           -688.606447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.517330 meters
#   Minimum depth: 697.173053 meters looking forward 200.000000 meters along route
#   Maximum depth: 726.435190 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 612.026370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783493;
longitude = -122.071945;
duration = 410;
initialDepth = 639.495805;
finalDepth = 612.026370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       110.386526998016
#   Actual altitude:          100
#   Commanded vehicle depth:  612.026370001984 
#   Seafloor depth:           -722.412897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.155200 meters
#   Minimum depth: 718.837061 meters looking forward 200.000000 meters along route
#   Maximum depth: 758.649347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 639.495805 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782687;
longitude = -122.072506;
duration = 412;
initialDepth = 667.136157;
finalDepth = 639.495805;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       110.386526998016
#   Actual altitude:          100
#   Commanded vehicle depth:  639.495805294985 
#   Seafloor depth:           -726.549325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.155439 meters
#   Minimum depth: 728.741475 meters looking forward 200.000000 meters along route
#   Maximum depth: 796.147156 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 667.136157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781875;
longitude = -122.073072;
duration = 412;
initialDepth = 694.776573;
finalDepth = 667.136157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.6545256636909
#   Actual altitude:          91.6545256636909
#   Commanded vehicle depth:  667.136157336309 
#   Seafloor depth:           -758.790683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.111354 meters
#   Minimum depth: 762.831947 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.225878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.776573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781064;
longitude = -122.073637;
duration = 400;
initialDepth = 721.601329;
finalDepth = 694.776573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.599518582512
#   Actual altitude:          100
#   Commanded vehicle depth:  694.776573417488 
#   Seafloor depth:           -796.376092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.235416 meters
#   Minimum depth: 796.929130 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.961252 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 721.601329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780277;
longitude = -122.074185;
duration = 408;
initialDepth = 748.995226;
finalDepth = 721.601329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       105.404311604203
#   Actual altitude:          100
#   Commanded vehicle depth:  721.601329395797 
#   Seafloor depth:           -827.005641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.235652 meters
#   Minimum depth: 830.624298 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.740048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 748.995226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779473;
longitude = -122.074746;
duration = 408;
initialDepth = 776.389186;
finalDepth = 748.995226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       112.101857938488
#   Actual altitude:          100
#   Commanded vehicle depth:  748.995226061512 
#   Seafloor depth:           -861.097084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.235886 meters
#   Minimum depth: 862.443065 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.275781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.389186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778669;
longitude = -122.075306;
duration = 408;
initialDepth = 783.253141;
finalDepth = 776.389186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       112.101857938488
#   Actual altitude:          100
#   Commanded vehicle depth:  776.389185963236 
#   Seafloor depth:           -873.079415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.236120 meters
#   Minimum depth: 833.253141 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.275781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.253141 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777865;
longitude = -122.075866;
duration = 408;
initialDepth = 759.418768;
finalDepth = 783.253141;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.6902290367641
#   Actual altitude:          96.6902290367641
#   Commanded vehicle depth:  783.253141 
#   Seafloor depth:           -872.365256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 58.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.236355 meters
#   Minimum depth: 809.418768 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.417305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 759.418768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777062;
longitude = -122.076426;
duration = 408;
initialDepth = 754.140514;
finalDepth = 759.418768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.112115
#   Actual altitude:          89.112115
#   Commanded vehicle depth:  759.418768 
#   Seafloor depth:           -831.201986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.236589 meters
#   Minimum depth: 804.140514 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.888756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 754.140514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776258;
longitude = -122.076986;
duration = 408;
initialDepth = 754.140514;
finalDepth = 754.140514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.783218
#   Actual altitude:          71.783218
#   Commanded vehicle depth:  754.140514 
#   Seafloor depth:           -817.443589
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.236824 meters
#   Minimum depth: 804.140514 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.549487 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 754.140514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775454;
longitude = -122.077546;
duration = 408;
initialDepth = 763.067064;
finalDepth = 754.140514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.3030749999999
#   Actual altitude:          63.3030749999999
#   Commanded vehicle depth:  754.140514 
#   Seafloor depth:           -811.447965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.237058 meters
#   Minimum depth: 813.067064 meters looking forward 200.000000 meters along route
#   Maximum depth: 897.934304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 763.067064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774650;
longitude = -122.078106;
duration = 408;
initialDepth = 790.461401;
finalDepth = 763.067064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.8308930000001
#   Actual altitude:          92.8308930000001
#   Commanded vehicle depth:  763.067064 
#   Seafloor depth:           -855.897957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.237293 meters
#   Minimum depth: 859.443011 meters looking forward 200.000000 meters along route
#   Maximum depth: 909.090299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.461401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773846;
longitude = -122.078667;
duration = 408;
initialDepth = 810.564914;
finalDepth = 790.461401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.788887361719
#   Actual altitude:          100
#   Commanded vehicle depth:  790.461400638281 
#   Seafloor depth:           -897.250288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.025015 meters
#   Minimum depth: 860.564914 meters looking forward 200.000000 meters along route
#   Maximum depth: 909.090299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.564914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773042;
longitude = -122.079227;
duration = 412;
initialDepth = 808.434297;
finalDepth = 810.564914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.788887361719
#   Actual altitude:          100
#   Commanded vehicle depth:  810.564914 
#   Seafloor depth:           -878.569105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.158277 meters
#   Minimum depth: 858.434297 meters looking forward 200.000000 meters along route
#   Maximum depth: 885.841548 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.434297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772232;
longitude = -122.079791;
duration = 412;
initialDepth = 808.434297;
finalDepth = 808.434297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.004191
#   Actual altitude:          68.004191
#   Commanded vehicle depth:  808.434297 
#   Seafloor depth:           -860.773532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.529993 meters
#   Minimum depth: 858.434297 meters looking forward 200.000000 meters along route
#   Maximum depth: 887.370925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.434297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771421;
longitude = -122.080356;
duration = 402;
initialDepth = 820.611054;
finalDepth = 808.434297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.459205
#   Actual altitude:          63.459205
#   Commanded vehicle depth:  808.434297 
#   Seafloor depth:           -871.893502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.238231 meters
#   Minimum depth: 870.611054 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.568753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 820.611054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770631;
longitude = -122.080907;
duration = 408;
initialDepth = 848.005705;
finalDepth = 820.611054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.691105
#   Actual altitude:          67.691105
#   Commanded vehicle depth:  820.611054 
#   Seafloor depth:           -888.302159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.238466 meters
#   Minimum depth: 899.076994 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.423072 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 848.005705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769827;
longitude = -122.081467;
duration = 408;
initialDepth = 866.568160;
finalDepth = 848.005705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.9952250573206
#   Actual altitude:          72.9952250573206
#   Commanded vehicle depth:  848.005704942679 
#   Seafloor depth:           -921.000930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.238699 meters
#   Minimum depth: 916.568160 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.325452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.568160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769023;
longitude = -122.082028;
duration = 408;
initialDepth = 888.897670;
finalDepth = 866.568160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.9952250573206
#   Actual altitude:          72.9952250573206
#   Commanded vehicle depth:  866.56816 
#   Seafloor depth:           -934.024728
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.238935 meters
#   Minimum depth: 938.897670 meters looking forward 200.000000 meters along route
#   Maximum depth: 979.226788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.897670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768219;
longitude = -122.082588;
duration = 408;
initialDepth = 911.325845;
finalDepth = 888.897670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.782768
#   Actual altitude:          74.782768
#   Commanded vehicle depth:  888.89767 
#   Seafloor depth:           -963.680438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.239169 meters
#   Minimum depth: 961.325845 meters looking forward 200.000000 meters along route
#   Maximum depth: 979.226788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.325845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767415;
longitude = -122.083148;
duration = 408;
initialDepth = 915.862625;
finalDepth = 911.325845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.782768
#   Actual altitude:          74.782768
#   Commanded vehicle depth:  911.325845 
#   Seafloor depth:           -977.031244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.239404 meters
#   Minimum depth: 965.862625 meters looking forward 200.000000 meters along route
#   Maximum depth: 992.692812 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 915.862625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766611;
longitude = -122.083708;
duration = 408;
initialDepth = 920.025229;
finalDepth = 915.862625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7053990000001
#   Actual altitude:          65.7053990000001
#   Commanded vehicle depth:  915.862625 
#   Seafloor depth:           -970.004296
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.239638 meters
#   Minimum depth: 970.025229 meters looking forward 200.000000 meters along route
#   Maximum depth: 1033.291125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 920.025229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765807;
longitude = -122.084268;
duration = 408;
initialDepth = 947.420257;
finalDepth = 920.025229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.5266780000001
#   Actual altitude:          73.5266780000001
#   Commanded vehicle depth:  920.025229 
#   Seafloor depth:           -993.551907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.239872 meters
#   Minimum depth: 1002.611240 meters looking forward 200.000000 meters along route
#   Maximum depth: 1060.126230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.420257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765003;
longitude = -122.084828;
duration = 408;
initialDepth = 974.815348;
finalDepth = 947.420257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.0012410528145
#   Actual altitude:          85.0012410528145
#   Commanded vehicle depth:  947.420256947185 
#   Seafloor depth:           -1032.421498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.240108 meters
#   Minimum depth: 1031.925789 meters looking forward 200.000000 meters along route
#   Maximum depth: 1089.222813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 974.815348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764200;
longitude = -122.085389;
duration = 408;
initialDepth = 1002.210501;
finalDepth = 974.815348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.6265854055185
#   Actual altitude:          85.6265854055185
#   Commanded vehicle depth:  974.815347594482 
#   Seafloor depth:           -1060.441933
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.611956 meters
#   Minimum depth: 1063.683441 meters looking forward 200.000000 meters along route
#   Maximum depth: 1115.867009 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1002.210501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763396;
longitude = -122.085949;
duration = 410;
initialDepth = 1029.705292;
finalDepth = 1002.210501;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.417101522215
#   Actual altitude:          87.417101522215
#   Commanded vehicle depth:  1002.21050147778 
#   Seafloor depth:           -1089.627603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.161116 meters
#   Minimum depth: 1095.032560 meters looking forward 200.000000 meters along route
#   Maximum depth: 1116.949446 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1029.705292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762589;
longitude = -122.086511;
duration = 412;
initialDepth = 1046.707235;
finalDepth = 1029.705292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.417101522215
#   Actual altitude:          87.417101522215
#   Commanded vehicle depth:  1029.70529173062 
#   Seafloor depth:           -1108.908090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.161355 meters
#   Minimum depth: 1096.707235 meters looking forward 200.000000 meters along route
#   Maximum depth: 1118.822820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1046.707235 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761778;
longitude = -122.087076;
duration = 412;
initialDepth = 1027.399546;
finalDepth = 1046.707235;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2027982693837
#   Actual altitude:          79.2027982693837
#   Commanded vehicle depth:  1046.707235 
#   Seafloor depth:           -1117.127787
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.161593 meters
#   Minimum depth: 1077.399546 meters looking forward 200.000000 meters along route
#   Maximum depth: 1118.822820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1027.399546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760967;
longitude = -122.087641;
duration = 412;
initialDepth = 1027.399546;
finalDepth = 1027.399546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.4205519999998
#   Actual altitude:          70.4205519999998
#   Commanded vehicle depth:  1027.399546 
#   Seafloor depth:           -1093.555221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.161833 meters
#   Minimum depth: 1077.399546 meters looking forward 200.000000 meters along route
#   Maximum depth: 1094.773713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1027.399546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760155;
longitude = -122.088206;
duration = 412;
initialDepth = 1032.413063;
finalDepth = 1027.399546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.155675
#   Actual altitude:          66.155675
#   Commanded vehicle depth:  1027.399546 
#   Seafloor depth:           -1084.254354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 103.162071 meters
#   Minimum depth: 1082.413063 meters looking forward 200.000000 meters along route
#   Maximum depth: 1112.665473 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1032.413063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759344;
longitude = -122.088772;
duration = 412;
initialDepth = 1045.310482;
finalDepth = 1032.413063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6459440000001
#   Actual altitude:          59.6459440000001
#   Commanded vehicle depth:  1032.413063 
#   Seafloor depth:           -1092.059007
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 110.809539 meters
#   Minimum depth: 1095.310482 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.678420 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1045.310482 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758533;
longitude = -122.089337;
duration = 443;
initialDepth = 1061.732692;
finalDepth = 1045.310482;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       68.971225
#   Actual altitude:          68.971225
#   Commanded vehicle depth:  1045.310482 
#   Seafloor depth:           -1114.281707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 161.529423 meters
#   Minimum depth: 1111.732692 meters looking forward 200.000000 meters along route
#   Maximum depth: 1137.597579 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1061.732692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757662;
longitude = -122.089944;
duration = 646;
# abortOnTimeout    = True; 
initialDepth = 1035.789379;
finalDepth = 1061.732692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.88474
#   Actual altitude:          72.88474
#   Commanded vehicle depth:  1061.732692 
#   Seafloor depth:           -1134.617432
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 76.525634 meters
#   Minimum depth: 1085.789379 meters looking forward 200.000000 meters along route
#   Maximum depth: 1125.563789 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1035.789379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757121;
longitude = -122.088264;
duration = 306;
# abortOnTimeout    = True; 
initialDepth = 1004.357347;
finalDepth = 1035.789379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2468449999999
#   Actual altitude:          79.2468449999999
#   Commanded vehicle depth:  1035.789379 
#   Seafloor depth:           -1115.036224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.170245 meters
#   Minimum depth: 1054.357347 meters looking forward 200.000000 meters along route
#   Maximum depth: 1116.924795 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1004.357347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757722;
longitude = -122.087844;
duration = 400;
initialDepth = 980.080914;
finalDepth = 1004.357347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.7657430000002
#   Actual altitude:          80.7657430000002
#   Commanded vehicle depth:  1004.357347 
#   Seafloor depth:           -1085.123090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.941831 meters
#   Minimum depth: 1030.080914 meters looking forward 200.000000 meters along route
#   Maximum depth: 1081.456896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 980.080914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758509;
longitude = -122.087293;
duration = 407;
initialDepth = 974.928267;
finalDepth = 980.080914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.7657430000002
#   Actual altitude:          80.7657430000002
#   Commanded vehicle depth:  980.080914 
#   Seafloor depth:           -1053.165715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.941598 meters
#   Minimum depth: 1024.928267 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.234453 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 974.928267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759310;
longitude = -122.086733;
duration = 407;
initialDepth = 974.928267;
finalDepth = 974.928267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.0848010000002
#   Actual altitude:          73.0848010000002
#   Commanded vehicle depth:  974.928267 
#   Seafloor depth:           -1033.218936
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.941363 meters
#   Minimum depth: 1024.928267 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.863114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 974.928267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760111;
longitude = -122.086173;
duration = 407;
initialDepth = 986.698293;
finalDepth = 974.928267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9618230000001
#   Actual altitude:          60.9618230000001
#   Commanded vehicle depth:  974.928267 
#   Seafloor depth:           -1035.890090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.941128 meters
#   Minimum depth: 1036.698293 meters looking forward 200.000000 meters along route
#   Maximum depth: 1048.840013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 986.698293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760911;
longitude = -122.085613;
duration = 407;
initialDepth = 989.413235;
finalDepth = 986.698293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5418650000001
#   Actual altitude:          61.5418650000001
#   Commanded vehicle depth:  986.698293 
#   Seafloor depth:           -1048.240158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.940894 meters
#   Minimum depth: 1039.413235 meters looking forward 200.000000 meters along route
#   Maximum depth: 1050.091661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 989.413235 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761712;
longitude = -122.085052;
duration = 407;
initialDepth = 975.609568;
finalDepth = 989.413235;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5418650000001
#   Actual altitude:          61.5418650000001
#   Commanded vehicle depth:  989.413235 
#   Seafloor depth:           -1044.523402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.940660 meters
#   Minimum depth: 1025.609568 meters looking forward 200.000000 meters along route
#   Maximum depth: 1050.091661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 975.609568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762513;
longitude = -122.084492;
duration = 407;
initialDepth = 974.505332;
finalDepth = 975.609568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.560082
#   Actual altitude:          63.560082
#   Commanded vehicle depth:  975.609568 
#   Seafloor depth:           -1039.169650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.766451 meters
#   Minimum depth: 1024.505332 meters looking forward 200.000000 meters along route
#   Maximum depth: 1038.472847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 974.505332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763314;
longitude = -122.083932;
duration = 411;
initialDepth = 964.276394;
finalDepth = 974.505332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.560082
#   Actual altitude:          63.560082
#   Commanded vehicle depth:  974.505332 
#   Seafloor depth:           -1025.664781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.114165 meters
#   Minimum depth: 1014.276394 meters looking forward 200.000000 meters along route
#   Maximum depth: 1035.269287 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 964.276394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764121;
longitude = -122.083367;
duration = 404;
initialDepth = 941.055617;
finalDepth = 964.276394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.993753
#   Actual altitude:          59.993753
#   Commanded vehicle depth:  964.276394 
#   Seafloor depth:           -1024.270147
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.939957 meters
#   Minimum depth: 991.055617 meters looking forward 200.000000 meters along route
#   Maximum depth: 1022.191501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 941.055617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764915;
longitude = -122.082812;
duration = 407;
initialDepth = 916.631473;
finalDepth = 941.055617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.1460950000001
#   Actual altitude:          73.1460950000001
#   Commanded vehicle depth:  941.055617 
#   Seafloor depth:           -1014.201712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.939722 meters
#   Minimum depth: 966.631473 meters looking forward 200.000000 meters along route
#   Maximum depth: 1014.180104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.631473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765716;
longitude = -122.082252;
duration = 407;
initialDepth = 893.948381;
finalDepth = 916.631473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.1460950000001
#   Actual altitude:          73.1460950000001
#   Commanded vehicle depth:  916.631473 
#   Seafloor depth:           -988.106137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.939487 meters
#   Minimum depth: 943.948381 meters looking forward 200.000000 meters along route
#   Maximum depth: 981.286810 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.948381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766517;
longitude = -122.081692;
duration = 407;
initialDepth = 866.755296;
finalDepth = 893.948381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.5687899999999
#   Actual altitude:          71.5687899999999
#   Commanded vehicle depth:  893.948381 
#   Seafloor depth:           -965.517171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.939254 meters
#   Minimum depth: 916.755296 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.810589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.755296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767318;
longitude = -122.081131;
duration = 407;
initialDepth = 849.002103;
finalDepth = 866.755296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.615318
#   Actual altitude:          77.615318
#   Commanded vehicle depth:  866.755296 
#   Seafloor depth:           -944.370614
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.939019 meters
#   Minimum depth: 899.002103 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.110202 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.002103 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768118;
longitude = -122.080571;
duration = 407;
initialDepth = 829.120094;
finalDepth = 849.002103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.615318
#   Actual altitude:          77.615318
#   Commanded vehicle depth:  849.002103 
#   Seafloor depth:           -915.727034
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.938784 meters
#   Minimum depth: 879.120094 meters looking forward 200.000000 meters along route
#   Maximum depth: 914.899014 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 829.120094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768919;
longitude = -122.080011;
duration = 407;
initialDepth = 800.771129;
finalDepth = 829.120094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.674846
#   Actual altitude:          69.674846
#   Commanded vehicle depth:  829.120094 
#   Seafloor depth:           -898.794940
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.938550 meters
#   Minimum depth: 850.771129 meters looking forward 200.000000 meters along route
#   Maximum depth: 897.917189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 800.771129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769720;
longitude = -122.079451;
duration = 407;
initialDepth = 766.382766;
finalDepth = 800.771129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.675654
#   Actual altitude:          77.675654
#   Commanded vehicle depth:  800.771129 
#   Seafloor depth:           -878.446783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 103.134446 meters
#   Minimum depth: 816.382766 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.154140 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 766.382766 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770521;
longitude = -122.078891;
duration = 412;
initialDepth = 742.438724;
finalDepth = 766.382766;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.3869400000001
#   Actual altitude:          88.3869400000001
#   Commanded vehicle depth:  766.382766 
#   Seafloor depth:           -854.769706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.741951 meters
#   Minimum depth: 792.438724 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.883392 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 742.438724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771331;
longitude = -122.078324;
duration = 402;
initialDepth = 734.446610;
finalDepth = 742.438724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.3869400000001
#   Actual altitude:          88.3869400000001
#   Commanded vehicle depth:  742.438724 
#   Seafloor depth:           -815.890827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.937847 meters
#   Minimum depth: 784.446610 meters looking forward 200.000000 meters along route
#   Maximum depth: 814.474323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.446610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772122;
longitude = -122.077770;
duration = 407;
initialDepth = 734.446610;
finalDepth = 734.446610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.452103
#   Actual altitude:          73.452103
#   Commanded vehicle depth:  734.44661 
#   Seafloor depth:           -792.888159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.937612 meters
#   Minimum depth: 784.446610 meters looking forward 200.000000 meters along route
#   Maximum depth: 812.988077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.446610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772923;
longitude = -122.077210;
duration = 407;
initialDepth = 736.797604;
finalDepth = 734.446610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.413261
#   Actual altitude:          60.413261
#   Commanded vehicle depth:  734.44661 
#   Seafloor depth:           -794.859871
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.937379 meters
#   Minimum depth: 786.797604 meters looking forward 200.000000 meters along route
#   Maximum depth: 812.988077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.797604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773724;
longitude = -122.076650;
duration = 407;
initialDepth = 710.787816;
finalDepth = 736.797604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.261207
#   Actual altitude:          69.261207
#   Commanded vehicle depth:  736.797604 
#   Seafloor depth:           -806.058811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.937143 meters
#   Minimum depth: 760.787816 meters looking forward 200.000000 meters along route
#   Maximum depth: 805.627299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.787816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774525;
longitude = -122.076090;
duration = 407;
initialDepth = 677.766726;
finalDepth = 710.787816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.420082
#   Actual altitude:          77.420082
#   Commanded vehicle depth:  710.787816 
#   Seafloor depth:           -788.207898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.936910 meters
#   Minimum depth: 727.766726 meters looking forward 200.000000 meters along route
#   Maximum depth: 785.639317 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 677.766726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775325;
longitude = -122.075530;
duration = 407;
initialDepth = 675.520015;
finalDepth = 677.766726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.557859
#   Actual altitude:          80.557859
#   Commanded vehicle depth:  677.766726 
#   Seafloor depth:           -758.324585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.936675 meters
#   Minimum depth: 725.520015 meters looking forward 200.000000 meters along route
#   Maximum depth: 757.231604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 675.520015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776126;
longitude = -122.074970;
duration = 407;
initialDepth = 675.520015;
finalDepth = 675.520015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.557859
#   Actual altitude:          80.557859
#   Commanded vehicle depth:  675.520015 
#   Seafloor depth:           -729.196778
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.186821 meters
#   Minimum depth: 725.520015 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.112383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 675.520015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776927;
longitude = -122.074409;
duration = 408;
initialDepth = 702.900891;
finalDepth = 675.520015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.055289
#   Actual altitude:          82.055289
#   Commanded vehicle depth:  675.520015 
#   Seafloor depth:           -757.575304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 103.252045 meters
#   Minimum depth: 756.886676 meters looking forward 200.000000 meters along route
#   Maximum depth: 789.440992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.900891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777730;
longitude = -122.073848;
duration = 413;
initialDepth = 711.081873;
finalDepth = 702.900891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.055289
#   Actual altitude:          82.055289
#   Commanded vehicle depth:  702.900890674942 
#   Seafloor depth:           -782.145979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.369753 meters
#   Minimum depth: 761.081873 meters looking forward 200.000000 meters along route
#   Maximum depth: 789.440992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.081873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778541;
longitude = -122.073281;
duration = 401;
initialDepth = 687.630097;
finalDepth = 711.081873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2450883250578
#   Actual altitude:          79.2450883250578
#   Commanded vehicle depth:  711.081873 
#   Seafloor depth:           -773.996378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.935737 meters
#   Minimum depth: 737.630097 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.894488 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.630097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779329;
longitude = -122.072729;
duration = 407;
initialDepth = 648.743848;
finalDepth = 687.630097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.388508
#   Actual altitude:          73.388508
#   Commanded vehicle depth:  687.630097 
#   Seafloor depth:           -761.018605
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.935504 meters
#   Minimum depth: 698.743848 meters looking forward 200.000000 meters along route
#   Maximum depth: 760.280934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 648.743848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780130;
longitude = -122.072169;
duration = 407;
initialDepth = 601.320828;
finalDepth = 648.743848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.4873230000001
#   Actual altitude:          84.4873230000001
#   Commanded vehicle depth:  648.743848 
#   Seafloor depth:           -733.231171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.935268 meters
#   Minimum depth: 651.320828 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.253470 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 601.320828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780931;
longitude = -122.071609;
duration = 407;
initialDepth = 590.149633;
finalDepth = 601.320828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.379282
#   Actual altitude:          94.379282
#   Commanded vehicle depth:  601.320828 
#   Seafloor depth:           -695.700110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.935035 meters
#   Minimum depth: 640.149633 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.597984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 590.149633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781732;
longitude = -122.071049;
duration = 407;
initialDepth = 590.149633;
finalDepth = 590.149633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.379282
#   Actual altitude:          94.379282
#   Commanded vehicle depth:  590.149633 
#   Seafloor depth:           -650.510051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.934800 meters
#   Minimum depth: 640.149633 meters looking forward 200.000000 meters along route
#   Maximum depth: 671.022854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 590.149633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782532;
longitude = -122.070488;
duration = 407;
initialDepth = 580.057061;
finalDepth = 590.149633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.824979
#   Actual altitude:          71.824979
#   Commanded vehicle depth:  590.149633 
#   Seafloor depth:           -661.974612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.934566 meters
#   Minimum depth: 630.057061 meters looking forward 200.000000 meters along route
#   Maximum depth: 671.022854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 580.057061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783333;
longitude = -122.069928;
duration = 407;
initialDepth = 554.416901;
finalDepth = 580.057061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.824979
#   Actual altitude:          71.824979
#   Commanded vehicle depth:  580.057061 
#   Seafloor depth:           -648.415957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.554814 meters
#   Minimum depth: 604.416901 meters looking forward 200.000000 meters along route
#   Maximum depth: 650.680221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.416901 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784134;
longitude = -122.069368;
duration = 410;
initialDepth = 523.967957;
finalDepth = 554.416901;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.7878539999999
#   Actual altitude:          79.7878539999999
#   Commanded vehicle depth:  554.416901 
#   Seafloor depth:           -634.204755
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 103.249908 meters
#   Minimum depth: 573.967957 meters looking forward 200.000000 meters along route
#   Maximum depth: 632.499377 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.967957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784940;
longitude = -122.068804;
duration = 412;
initialDepth = 503.459210;
finalDepth = 523.967957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.320788
#   Actual altitude:          80.320788
#   Commanded vehicle depth:  523.967957 
#   Seafloor depth:           -604.288745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 103.249667 meters
#   Minimum depth: 553.459210 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.338601 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.459210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785751;
longitude = -122.068237;
duration = 412;
initialDepth = 465.700927;
finalDepth = 503.459210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.320788
#   Actual altitude:          80.320788
#   Commanded vehicle depth:  503.45921 
#   Seafloor depth:           -575.174891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 103.249427 meters
#   Minimum depth: 515.700927 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.968778 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.700927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786562;
longitude = -122.067670;
duration = 412;
initialDepth = 426.939912;
finalDepth = 465.700927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.44937
#   Actual altitude:          86.44937
#   Commanded vehicle depth:  465.700927 
#   Seafloor depth:           -552.150297
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 110.877685 meters
#   Minimum depth: 476.939912 meters looking forward 200.000000 meters along route
#   Maximum depth: 546.155772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 426.939912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787373;
longitude = -122.067102;
duration = 443;
initialDepth = 418.934279;
finalDepth = 426.939912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       86.44937
#   Actual altitude:          86.44937
#   Commanded vehicle depth:  426.939912 
#   Seafloor depth:           -512.765783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 75.436453 meters
#   Minimum depth: 468.934279 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.116444 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 418.934279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788244;
longitude = -122.066493;
duration = 301;
# abortOnTimeout    = True; 
initialDepth = 398.557221;
finalDepth = 418.934279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.8258710000001
#   Actual altitude:          85.8258710000001
#   Commanded vehicle depth:  418.934279 
#   Seafloor depth:           -476.340508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.427034 meters
#   Minimum depth: 448.557221 meters looking forward 200.000000 meters along route
#   Maximum depth: 482.008634 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 398.557221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787643;
longitude = -122.066097;
duration = 437;
initialDepth = 400.777577;
finalDepth = 398.557221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       71.865321
#   Actual altitude:          71.865321
#   Commanded vehicle depth:  398.557221 
#   Seafloor depth:           -470.422542
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 169.978914 meters
#   Minimum depth: 450.777577 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.255922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 400.777577 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786772;
longitude = -122.065522;
duration = 679;
# abortOnTimeout    = True; 
initialDepth = 422.520024;
finalDepth = 400.777577;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.865321
#   Actual altitude:          71.865321
#   Commanded vehicle depth:  400.777577 
#   Seafloor depth:           -457.432404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.028460 meters
#   Minimum depth: 472.520024 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.018878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.520024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785436;
longitude = -122.066455;
duration = 408;
initialDepth = 422.520024;
finalDepth = 422.520024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.654827
#   Actual altitude:          56.654827
#   Commanded vehicle depth:  422.520024 
#   Seafloor depth:           -474.258817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.028695 meters
#   Minimum depth: 472.520024 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.761714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.520024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784635;
longitude = -122.067015;
duration = 408;
initialDepth = 449.858530;
finalDepth = 422.520024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.8393300000001
#   Actual altitude:          90.8393300000001
#   Commanded vehicle depth:  422.520024 
#   Seafloor depth:           -513.359354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.028930 meters
#   Minimum depth: 515.856826 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.117539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.858530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783833;
longitude = -122.067576;
duration = 408;
initialDepth = 477.197099;
finalDepth = 449.858530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.082516058304
#   Actual altitude:          95.082516058304
#   Commanded vehicle depth:  449.858529941696 
#   Seafloor depth:           -544.941046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.029163 meters
#   Minimum depth: 549.416285 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.252676 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 477.197099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783031;
longitude = -122.068136;
duration = 408;
initialDepth = 504.535730;
finalDepth = 477.197099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.339818148548
#   Actual altitude:          100
#   Commanded vehicle depth:  477.197098851452 
#   Seafloor depth:           -595.536917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.378085 meters
#   Minimum depth: 572.408625 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.252676 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.535730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782229;
longitude = -122.068696;
duration = 409;
initialDepth = 522.375720;
finalDepth = 504.535730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.339818148548
#   Actual altitude:          100
#   Commanded vehicle depth:  504.535730193368 
#   Seafloor depth:           -603.895281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.221061 meters
#   Minimum depth: 572.375720 meters looking forward 200.000000 meters along route
#   Maximum depth: 597.535823 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.375720 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781425;
longitude = -122.069258;
duration = 412;
initialDepth = 523.867251;
finalDepth = 522.375720;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.3595508066318
#   Actual altitude:          99.3595508066318
#   Commanded vehicle depth:  522.37572 
#   Seafloor depth:           -572.375720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.489752 meters
#   Minimum depth: 573.867251 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.295922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.867251 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780614;
longitude = -122.069825;
duration = 401;
initialDepth = 537.911917;
finalDepth = 523.867251;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.282379
#   Actual altitude:          63.282379
#   Commanded vehicle depth:  523.867251 
#   Seafloor depth:           -587.149630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.030101 meters
#   Minimum depth: 587.911917 meters looking forward 200.000000 meters along route
#   Maximum depth: 636.317042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.911917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779824;
longitude = -122.070376;
duration = 408;
initialDepth = 562.644466;
finalDepth = 537.911917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.54747
#   Actual altitude:          77.54747
#   Commanded vehicle depth:  537.911917 
#   Seafloor depth:           -615.459387
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.030335 meters
#   Minimum depth: 612.644466 meters looking forward 200.000000 meters along route
#   Maximum depth: 650.148749 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.644466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779022;
longitude = -122.070936;
duration = 408;
initialDepth = 578.589734;
finalDepth = 562.644466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.54747
#   Actual altitude:          77.54747
#   Commanded vehicle depth:  562.644466 
#   Seafloor depth:           -636.958524
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.030570 meters
#   Minimum depth: 628.589734 meters looking forward 200.000000 meters along route
#   Maximum depth: 681.171047 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 578.589734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778220;
longitude = -122.071497;
duration = 408;
initialDepth = 597.426309;
finalDepth = 578.589734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.314058
#   Actual altitude:          74.314058
#   Commanded vehicle depth:  578.589734 
#   Seafloor depth:           -648.651756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.030805 meters
#   Minimum depth: 647.426309 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.440367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 597.426309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777419;
longitude = -122.072057;
duration = 408;
initialDepth = 616.168919;
finalDepth = 597.426309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.4075340000001
#   Actual altitude:          85.4075340000001
#   Commanded vehicle depth:  597.426309 
#   Seafloor depth:           -682.833843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.031038 meters
#   Minimum depth: 666.168919 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.440367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 616.168919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776617;
longitude = -122.072617;
duration = 408;
initialDepth = 616.168919;
finalDepth = 616.168919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.4075340000001
#   Actual altitude:          85.4075340000001
#   Commanded vehicle depth:  616.168919 
#   Seafloor depth:           -680.661576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.031273 meters
#   Minimum depth: 666.168919 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.634426 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 616.168919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775815;
longitude = -122.073177;
duration = 408;
initialDepth = 620.525132;
finalDepth = 616.168919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.492657
#   Actual altitude:          64.492657
#   Commanded vehicle depth:  616.168919 
#   Seafloor depth:           -668.236314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.031508 meters
#   Minimum depth: 670.525132 meters looking forward 200.000000 meters along route
#   Maximum depth: 706.876822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 620.525132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775013;
longitude = -122.073737;
duration = 408;
initialDepth = 640.649159;
finalDepth = 620.525132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.965444
#   Actual altitude:          66.965444
#   Commanded vehicle depth:  620.525132 
#   Seafloor depth:           -687.490576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.825700 meters
#   Minimum depth: 690.649159 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.924842 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.649159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774212;
longitude = -122.074297;
duration = 411;
initialDepth = 659.075189;
finalDepth = 640.649159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.965444
#   Actual altitude:          66.965444
#   Commanded vehicle depth:  640.649159 
#   Seafloor depth:           -706.875840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.223433 meters
#   Minimum depth: 709.075189 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.893754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 659.075189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773404;
longitude = -122.074862;
duration = 412;
initialDepth = 681.628242;
finalDepth = 659.075189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.887842
#   Actual altitude:          71.887842
#   Commanded vehicle depth:  659.075189 
#   Seafloor depth:           -730.963031
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.046795 meters
#   Minimum depth: 731.628242 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.436975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 681.628242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772593;
longitude = -122.075429;
duration = 400;
initialDepth = 686.150401;
finalDepth = 681.628242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.887842
#   Actual altitude:          71.887842
#   Commanded vehicle depth:  681.628242 
#   Seafloor depth:           -736.121304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.032445 meters
#   Minimum depth: 736.150401 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.069385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.150401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771806;
longitude = -122.075978;
duration = 408;
initialDepth = 707.988066;
finalDepth = 686.150401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.978132
#   Actual altitude:          66.978132
#   Commanded vehicle depth:  686.150401 
#   Seafloor depth:           -753.128533
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.032680 meters
#   Minimum depth: 757.988066 meters looking forward 200.000000 meters along route
#   Maximum depth: 818.216023 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.988066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771005;
longitude = -122.076538;
duration = 408;
initialDepth = 735.327640;
finalDepth = 707.988066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.317403
#   Actual altitude:          83.317403
#   Commanded vehicle depth:  707.988066 
#   Seafloor depth:           -791.305469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.032914 meters
#   Minimum depth: 793.835814 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.275480 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.327640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770203;
longitude = -122.077098;
duration = 408;
initialDepth = 762.667276;
finalDepth = 735.327640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.9333902807913
#   Actual altitude:          85.9333902807913
#   Commanded vehicle depth:  735.327639719209 
#   Seafloor depth:           -821.261030
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.033148 meters
#   Minimum depth: 822.354908 meters looking forward 200.000000 meters along route
#   Maximum depth: 882.588052 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 762.667276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769401;
longitude = -122.077658;
duration = 408;
initialDepth = 790.006975;
finalDepth = 762.667276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.3169998614719
#   Actual altitude:          92.3169998614719
#   Commanded vehicle depth:  762.667276138528 
#   Seafloor depth:           -854.984276
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.033383 meters
#   Minimum depth: 856.704090 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.822831 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.006975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768599;
longitude = -122.078219;
duration = 408;
initialDepth = 817.346737;
finalDepth = 790.006975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.1719297420433
#   Actual altitude:          93.1719297420433
#   Commanded vehicle depth:  790.006975257957 
#   Seafloor depth:           -883.178905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.033617 meters
#   Minimum depth: 883.744278 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.193603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.346737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767798;
longitude = -122.078779;
duration = 408;
initialDepth = 844.686562;
finalDepth = 817.346737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.1719297420433
#   Actual altitude:          93.1719297420433
#   Commanded vehicle depth:  817.346737345445 
#   Seafloor depth:           -904.025242
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.081622 meters
#   Minimum depth: 905.281406 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.107195 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.686562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766996;
longitude = -122.079339;
duration = 408;
initialDepth = 872.039250;
finalDepth = 844.686562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.7328848669571
#   Actual altitude:          91.7328848669571
#   Commanded vehicle depth:  844.686562133043 
#   Seafloor depth:           -936.419447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.225565 meters
#   Minimum depth: 935.996771 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.106435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.039250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766194;
longitude = -122.079899;
duration = 412;
initialDepth = 893.643863;
finalDepth = 872.039250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.7328848669571
#   Actual altitude:          91.7328848669571
#   Commanded vehicle depth:  872.039249821394 
#   Seafloor depth:           -944.386442
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.795070 meters
#   Minimum depth: 943.643863 meters looking forward 200.000000 meters along route
#   Maximum depth: 981.695559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.643863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765383;
longitude = -122.080466;
duration = 403;
initialDepth = 913.960843;
finalDepth = 893.643863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.3471921786063
#   Actual altitude:          72.3471921786063
#   Commanded vehicle depth:  893.643863 
#   Seafloor depth:           -960.220144
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.034555 meters
#   Minimum depth: 963.960843 meters looking forward 200.000000 meters along route
#   Maximum depth: 981.695559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 913.960843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764591;
longitude = -122.081019;
duration = 408;
initialDepth = 909.119473;
finalDepth = 913.960843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.576281
#   Actual altitude:          66.576281
#   Commanded vehicle depth:  913.960843 
#   Seafloor depth:           -977.191702
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.034789 meters
#   Minimum depth: 959.119473 meters looking forward 200.000000 meters along route
#   Maximum depth: 980.452198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 909.119473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763789;
longitude = -122.081579;
duration = 408;
initialDepth = 905.702359;
finalDepth = 909.119473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.230859
#   Actual altitude:          63.230859
#   Commanded vehicle depth:  909.119473 
#   Seafloor depth:           -967.378789
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.035024 meters
#   Minimum depth: 955.702359 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.294669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 905.702359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762987;
longitude = -122.082140;
duration = 408;
initialDepth = 905.702359;
finalDepth = 905.702359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.259316
#   Actual altitude:          58.259316
#   Commanded vehicle depth:  905.702359 
#   Seafloor depth:           -959.968659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.035258 meters
#   Minimum depth: 955.702359 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.125278 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 905.702359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762185;
longitude = -122.082700;
duration = 408;
initialDepth = 912.024867;
finalDepth = 905.702359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.053536
#   Actual altitude:          57.053536
#   Commanded vehicle depth:  905.702359 
#   Seafloor depth:           -962.755895
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.035492 meters
#   Minimum depth: 962.024867 meters looking forward 200.000000 meters along route
#   Maximum depth: 989.379203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.024867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761384;
longitude = -122.083260;
duration = 408;
initialDepth = 921.762865;
finalDepth = 912.024867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9556180000001
#   Actual altitude:          60.9556180000001
#   Commanded vehicle depth:  912.024867 
#   Seafloor depth:           -972.980485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.035727 meters
#   Minimum depth: 971.762865 meters looking forward 200.000000 meters along route
#   Maximum depth: 1009.955337 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 921.762865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760582;
longitude = -122.083820;
duration = 408;
initialDepth = 940.825761;
finalDepth = 921.762865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.993983
#   Actual altitude:          66.993983
#   Commanded vehicle depth:  921.762865 
#   Seafloor depth:           -988.756848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.035962 meters
#   Minimum depth: 990.825761 meters looking forward 200.000000 meters along route
#   Maximum depth: 1037.571720 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 940.825761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759780;
longitude = -122.084380;
duration = 408;
initialDepth = 964.474158;
finalDepth = 940.825761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.465789
#   Actual altitude:          69.465789
#   Commanded vehicle depth:  940.825761 
#   Seafloor depth:           -1010.291550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.529251 meters
#   Minimum depth: 1014.474158 meters looking forward 200.000000 meters along route
#   Maximum depth: 1064.725817 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 964.474158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758978;
longitude = -122.084940;
duration = 410;
initialDepth = 991.946788;
finalDepth = 964.474158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.748231
#   Actual altitude:          73.748231
#   Commanded vehicle depth:  964.474158 
#   Seafloor depth:           -1038.222389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.227938 meters
#   Minimum depth: 1042.985184 meters looking forward 200.000000 meters along route
#   Maximum depth: 1096.121072 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 991.946788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758173;
longitude = -122.085503;
duration = 412;
initialDepth = 1017.165194;
finalDepth = 991.946788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.748231
#   Actual altitude:          73.748231
#   Commanded vehicle depth:  991.946787515267 
#   Seafloor depth:           -1065.019550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 107.111504 meters
#   Minimum depth: 1067.165194 meters looking forward 200.000000 meters along route
#   Maximum depth: 1121.032684 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1017.165194 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757362;
longitude = -122.086070;
duration = 428;
initialDepth = 1045.865634;
finalDepth = 1017.165194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       74.496179
#   Actual altitude:          74.496179
#   Commanded vehicle depth:  1017.165194 
#   Seafloor depth:           -1091.661373
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 129.368151 meters
#   Minimum depth: 1096.808506 meters looking forward 200.000000 meters along route
#   Maximum depth: 1123.246429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1045.865634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756520;
longitude = -122.086658;
duration = 517;
# abortOnTimeout    = True; 
initialDepth = 1015.962949;
finalDepth = 1045.865634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.3807945158005
#   Actual altitude:          77.3807945158005
#   Commanded vehicle depth:  1045.8656344842 
#   Seafloor depth:           -1123.246429
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.685808 meters
#   Minimum depth: 1065.962949 meters looking forward 200.000000 meters along route
#   Maximum depth: 1120.191268 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1015.962949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757542;
longitude = -122.087356;
duration = 410;
initialDepth = 1010.393365;
finalDepth = 1015.962949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.3807945158005
#   Actual altitude:          77.3807945158005
#   Commanded vehicle depth:  1015.962949 
#   Seafloor depth:           -1091.444285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.685558 meters
#   Minimum depth: 1060.393365 meters looking forward 200.000000 meters along route
#   Maximum depth: 1088.387187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1010.393365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758353;
longitude = -122.087910;
duration = 410;
initialDepth = 1010.393365;
finalDepth = 1010.393365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.4813360000001
#   Actual altitude:          75.4813360000001
#   Commanded vehicle depth:  1010.393365 
#   Seafloor depth:           -1069.081884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.685307 meters
#   Minimum depth: 1060.393365 meters looking forward 200.000000 meters along route
#   Maximum depth: 1110.020269 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1010.393365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759164;
longitude = -122.088465;
duration = 410;
initialDepth = 1034.718575;
finalDepth = 1010.393365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.0587250000001
#   Actual altitude:          73.0587250000001
#   Commanded vehicle depth:  1010.393365 
#   Seafloor depth:           -1083.452090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.685056 meters
#   Minimum depth: 1084.718575 meters looking forward 200.000000 meters along route
#   Maximum depth: 1144.136086 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1034.718575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759975;
longitude = -122.089019;
duration = 410;
initialDepth = 1062.232952;
finalDepth = 1034.718575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.0093019999999
#   Actual altitude:          83.0093019999999
#   Commanded vehicle depth:  1034.718575 
#   Seafloor depth:           -1117.727877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.684806 meters
#   Minimum depth: 1113.270589 meters looking forward 200.000000 meters along route
#   Maximum depth: 1199.054631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1062.232952 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760786;
longitude = -122.089573;
duration = 410;
initialDepth = 1089.747263;
finalDepth = 1062.232952;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.4278636615518
#   Actual altitude:          89.4278636615518
#   Commanded vehicle depth:  1062.23295233845 
#   Seafloor depth:           -1151.660816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.684555 meters
#   Minimum depth: 1160.936645 meters looking forward 200.000000 meters along route
#   Maximum depth: 1199.054631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1089.747263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761597;
longitude = -122.090127;
duration = 410;
initialDepth = 1117.261506;
finalDepth = 1089.747263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.283651310401
#   Actual altitude:          100
#   Commanded vehicle depth:  1089.7472626896 
#   Seafloor depth:           -1198.030914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.684305 meters
#   Minimum depth: 1174.823899 meters looking forward 200.000000 meters along route
#   Maximum depth: 1196.778577 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1117.261506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762409;
longitude = -122.090681;
duration = 410;
initialDepth = 1116.290150;
finalDepth = 1117.261506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.283651310401
#   Actual altitude:          100
#   Commanded vehicle depth:  1117.2615057855 
#   Seafloor depth:           -1192.824182
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.684054 meters
#   Minimum depth: 1166.290150 meters looking forward 200.000000 meters along route
#   Maximum depth: 1194.716759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1116.290150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763220;
longitude = -122.091236;
duration = 410;
initialDepth = 1107.156833;
finalDepth = 1116.290150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.5626762144959
#   Actual altitude:          75.5626762144959
#   Commanded vehicle depth:  1116.29015 
#   Seafloor depth:           -1171.596656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.683804 meters
#   Minimum depth: 1157.156833 meters looking forward 200.000000 meters along route
#   Maximum depth: 1173.131719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1107.156833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764031;
longitude = -122.091790;
duration = 410;
initialDepth = 1092.868765;
finalDepth = 1107.156833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.7829469999999
#   Actual altitude:          61.7829469999999
#   Commanded vehicle depth:  1107.156833 
#   Seafloor depth:           -1168.939780
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.683553 meters
#   Minimum depth: 1142.868765 meters looking forward 200.000000 meters along route
#   Maximum depth: 1166.787771 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1092.868765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764842;
longitude = -122.092344;
duration = 410;
initialDepth = 1082.562941;
finalDepth = 1092.868765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.0474750000001
#   Actual altitude:          64.0474750000001
#   Commanded vehicle depth:  1092.868765 
#   Seafloor depth:           -1156.916240
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.125255 meters
#   Minimum depth: 1132.562941 meters looking forward 200.000000 meters along route
#   Maximum depth: 1158.455773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1082.562941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765653;
longitude = -122.092898;
duration = 412;
initialDepth = 1075.221384;
finalDepth = 1082.562941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.0474750000001
#   Actual altitude:          64.0474750000001
#   Commanded vehicle depth:  1082.562941 
#   Seafloor depth:           -1142.829905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.786486 meters
#   Minimum depth: 1125.221384 meters looking forward 200.000000 meters along route
#   Maximum depth: 1145.417667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1075.221384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766468;
longitude = -122.093455;
duration = 415;
initialDepth = 1065.982686;
finalDepth = 1075.221384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.2669640000001
#   Actual altitude:          60.2669640000001
#   Commanded vehicle depth:  1075.221384 
#   Seafloor depth:           -1134.114864
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.786230 meters
#   Minimum depth: 1115.982686 meters looking forward 200.000000 meters along route
#   Maximum depth: 1132.646688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1065.982686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767287;
longitude = -122.094015;
duration = 415;
initialDepth = 1026.874348;
finalDepth = 1065.982686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.166242
#   Actual altitude:          60.166242
#   Commanded vehicle depth:  1065.982686 
#   Seafloor depth:           -1126.148928
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.033738 meters
#   Minimum depth: 1076.874348 meters looking forward 200.000000 meters along route
#   Maximum depth: 1123.954125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 1026.874348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768107;
longitude = -122.094575;
duration = 400;
initialDepth = 975.794111;
finalDepth = 1026.874348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.7044489999998
#   Actual altitude:          88.7044489999998
#   Commanded vehicle depth:  1026.874348 
#   Seafloor depth:           -1115.578797
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.682301 meters
#   Minimum depth: 1025.794111 meters looking forward 200.000000 meters along route
#   Maximum depth: 1114.705782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 975.794111 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768898;
longitude = -122.095115;
duration = 410;
initialDepth = 971.792758;
finalDepth = 975.794111;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.4711790000001
#   Actual altitude:          98.4711790000001
#   Commanded vehicle depth:  975.794111 
#   Seafloor depth:           -1074.265290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.682050 meters
#   Minimum depth: 1021.792758 meters looking forward 200.000000 meters along route
#   Maximum depth: 1078.185208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 971.792758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769709;
longitude = -122.095669;
duration = 410;
initialDepth = 945.786659;
finalDepth = 971.792758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.4711790000001
#   Actual altitude:          98.4711790000001
#   Commanded vehicle depth:  971.792758 
#   Seafloor depth:           -1028.506649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.681800 meters
#   Minimum depth: 995.786659 meters looking forward 200.000000 meters along route
#   Maximum depth: 1032.458207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.786659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770520;
longitude = -122.096223;
duration = 410;
initialDepth = 928.932272;
finalDepth = 945.786659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.988916
#   Actual altitude:          72.988916
#   Commanded vehicle depth:  945.786659 
#   Seafloor depth:           -1018.775575
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.681549 meters
#   Minimum depth: 978.932272 meters looking forward 200.000000 meters along route
#   Maximum depth: 1019.005074 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 928.932272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771331;
longitude = -122.096778;
duration = 410;
initialDepth = 908.612180;
finalDepth = 928.932272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.988916
#   Actual altitude:          72.988916
#   Commanded vehicle depth:  928.932272 
#   Seafloor depth:           -991.562304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.681299 meters
#   Minimum depth: 958.612180 meters looking forward 200.000000 meters along route
#   Maximum depth: 989.268926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 908.612180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772142;
longitude = -122.097332;
duration = 410;
initialDepth = 894.888758;
finalDepth = 908.612180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.330542
#   Actual altitude:          69.330542
#   Commanded vehicle depth:  908.61218 
#   Seafloor depth:           -977.942722
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.681049 meters
#   Minimum depth: 944.888758 meters looking forward 200.000000 meters along route
#   Maximum depth: 972.369430 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.888758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772953;
longitude = -122.097886;
duration = 410;
initialDepth = 881.805284;
finalDepth = 894.888758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.330542
#   Actual altitude:          69.330542
#   Commanded vehicle depth:  894.888758 
#   Seafloor depth:           -955.610135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.680798 meters
#   Minimum depth: 931.805284 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.525495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.805284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773764;
longitude = -122.098440;
duration = 410;
initialDepth = 869.065545;
finalDepth = 881.805284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.571638
#   Actual altitude:          61.571638
#   Commanded vehicle depth:  881.805284 
#   Seafloor depth:           -943.376922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.680547 meters
#   Minimum depth: 919.065545 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.091862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.065545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774575;
longitude = -122.098994;
duration = 410;
initialDepth = 857.101859;
finalDepth = 869.065545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.571638
#   Actual altitude:          61.571638
#   Commanded vehicle depth:  869.065545 
#   Seafloor depth:           -925.636495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.680297 meters
#   Minimum depth: 907.101859 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.943972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.101859 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775386;
longitude = -122.099549;
duration = 410;
initialDepth = 845.829623;
finalDepth = 857.101859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.60622
#   Actual altitude:          59.60622
#   Commanded vehicle depth:  857.101859 
#   Seafloor depth:           -916.708079
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.680047 meters
#   Minimum depth: 895.829623 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.164947 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 845.829623 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776198;
longitude = -122.100103;
duration = 410;
initialDepth = 826.064668;
finalDepth = 845.829623;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.322853
#   Actual altitude:          61.322853
#   Commanded vehicle depth:  845.829623 
#   Seafloor depth:           -907.152476
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.679796 meters
#   Minimum depth: 876.064668 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.947174 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.064668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777009;
longitude = -122.100657;
duration = 410;
initialDepth = 777.924919;
finalDepth = 826.064668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.151117
#   Actual altitude:          75.151117
#   Commanded vehicle depth:  826.064668 
#   Seafloor depth:           -901.215785
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.679546 meters
#   Minimum depth: 827.924919 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.294438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 777.924919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777820;
longitude = -122.101211;
duration = 410;
initialDepth = 748.666440;
finalDepth = 777.924919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.3925459999999
#   Actual altitude:          96.3925459999999
#   Commanded vehicle depth:  777.924919 
#   Seafloor depth:           -874.317465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.679296 meters
#   Minimum depth: 798.666440 meters looking forward 200.000000 meters along route
#   Maximum depth: 869.717865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 748.666440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778631;
longitude = -122.101765;
duration = 410;
initialDepth = 718.095519;
finalDepth = 748.666440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.3925459999999
#   Actual altitude:          96.3925459999999
#   Commanded vehicle depth:  748.66644 
#   Seafloor depth:           -834.858119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.679045 meters
#   Minimum depth: 768.095519 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.045926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 718.095519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779442;
longitude = -122.102320;
duration = 410;
initialDepth = 685.955421;
finalDepth = 718.095519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.5025840000001
#   Actual altitude:          86.5025840000001
#   Commanded vehicle depth:  718.095519 
#   Seafloor depth:           -804.598103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.678794 meters
#   Minimum depth: 735.955421 meters looking forward 200.000000 meters along route
#   Maximum depth: 797.365385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.955421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780253;
longitude = -122.102874;
duration = 410;
initialDepth = 654.137375;
finalDepth = 685.955421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.93361
#   Actual altitude:          87.93361
#   Commanded vehicle depth:  685.955421 
#   Seafloor depth:           -773.889031
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.225227 meters
#   Minimum depth: 704.137375 meters looking forward 200.000000 meters along route
#   Maximum depth: 761.603569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 654.137375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781064;
longitude = -122.103428;
duration = 440;
initialDepth = 593.303197;
finalDepth = 654.137375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       94.6398409999999
#   Actual altitude:          94.6398409999999
#   Commanded vehicle depth:  654.137375 
#   Seafloor depth:           -748.777216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 107.969566 meters
#   Minimum depth: 643.303197 meters looking forward 200.000000 meters along route
#   Maximum depth: 737.918879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 593.303197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781935;
longitude = -122.104023;
duration = 431;
# abortOnTimeout    = True; 
initialDepth = 583.202892;
finalDepth = 593.303197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.0554460000001
#   Actual altitude:          99.0554460000001
#   Commanded vehicle depth:  593.303197 
#   Seafloor depth:           -692.358643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.241361 meters
#   Minimum depth: 633.202892 meters looking forward 200.000000 meters along route
#   Maximum depth: 680.820472 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 583.202892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782781;
longitude = -122.103426;
duration = 404;
initialDepth = 566.469106;
finalDepth = 583.202892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.0554460000001
#   Actual altitude:          99.0554460000001
#   Commanded vehicle depth:  583.202892 
#   Seafloor depth:           -643.001572
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 59.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.241127 meters
#   Minimum depth: 616.469106 meters looking forward 200.000000 meters along route
#   Maximum depth: 653.496786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 566.469106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783575;
longitude = -122.102865;
duration = 404;
initialDepth = 562.049068;
finalDepth = 566.469106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.756791
#   Actual altitude:          80.756791
#   Commanded vehicle depth:  566.469106 
#   Seafloor depth:           -647.225897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.240892 meters
#   Minimum depth: 612.049068 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.317581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.049068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784369;
longitude = -122.102305;
duration = 404;
initialDepth = 554.563242;
finalDepth = 562.049068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.756791
#   Actual altitude:          80.756791
#   Commanded vehicle depth:  562.049068 
#   Seafloor depth:           -619.149332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.240658 meters
#   Minimum depth: 604.563242 meters looking forward 200.000000 meters along route
#   Maximum depth: 631.864401 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 554.563242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785162;
longitude = -122.101745;
duration = 404;
initialDepth = 540.487456;
finalDepth = 554.563242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.3011590000001
#   Actual altitude:          77.3011590000001
#   Commanded vehicle depth:  554.563242 
#   Seafloor depth:           -631.864401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.240424 meters
#   Minimum depth: 590.487456 meters looking forward 200.000000 meters along route
#   Maximum depth: 630.796227 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 540.487456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785956;
longitude = -122.101185;
duration = 404;
initialDepth = 526.995765;
finalDepth = 540.487456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.3011590000001
#   Actual altitude:          77.3011590000001
#   Commanded vehicle depth:  540.487456 
#   Seafloor depth:           -602.647927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.240189 meters
#   Minimum depth: 576.995765 meters looking forward 200.000000 meters along route
#   Maximum depth: 599.587550 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 526.995765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786749;
longitude = -122.100625;
duration = 404;
initialDepth = 506.390236;
finalDepth = 526.995765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.341091
#   Actual altitude:          63.341091
#   Commanded vehicle depth:  526.995765 
#   Seafloor depth:           -590.336856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.239955 meters
#   Minimum depth: 556.390236 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.668048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 506.390236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787543;
longitude = -122.100065;
duration = 404;
initialDepth = 496.451096;
finalDepth = 506.390236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.853825
#   Actual altitude:          67.853825
#   Commanded vehicle depth:  506.390236 
#   Seafloor depth:           -574.244061
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.239721 meters
#   Minimum depth: 546.451096 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.221650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 496.451096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788337;
longitude = -122.099505;
duration = 404;
initialDepth = 489.878282;
finalDepth = 496.451096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.853825
#   Actual altitude:          67.853825
#   Commanded vehicle depth:  496.451096 
#   Seafloor depth:           -555.099842
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.239486 meters
#   Minimum depth: 539.878282 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.082567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.878282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789130;
longitude = -122.098944;
duration = 404;
initialDepth = 452.420073;
finalDepth = 489.878282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.648746
#   Actual altitude:          58.648746
#   Commanded vehicle depth:  489.878282 
#   Seafloor depth:           -547.000372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.239251 meters
#   Minimum depth: 502.420073 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.898456 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.420073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789924;
longitude = -122.098384;
duration = 404;
initialDepth = 372.712184;
finalDepth = 452.420073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.095218
#   Actual altitude:          87.095218
#   Commanded vehicle depth:  452.420073 
#   Seafloor depth:           -539.515291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 102.213603 meters
#   Minimum depth: 422.712184 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.469665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.712184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790717;
longitude = -122.097824;
duration = 408;
initialDepth = 346.375571;
finalDepth = 372.712184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.527447
#   Actual altitude:          100
#   Commanded vehicle depth:  372.712184 
#   Seafloor depth:           -501.239631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.264198 meters
#   Minimum depth: 396.375571 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.239614 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 346.375571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791519;
longitude = -122.097258;
duration = 401;
initialDepth = 294.282560;
finalDepth = 346.375571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.527447
#   Actual altitude:          100
#   Commanded vehicle depth:  346.375571 
#   Seafloor depth:           -422.464106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.238548 meters
#   Minimum depth: 344.282560 meters looking forward 200.000000 meters along route
#   Maximum depth: 418.032678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 294.282560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792305;
longitude = -122.096704;
duration = 404;
initialDepth = 288.928656;
finalDepth = 294.282560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.343461
#   Actual altitude:          100
#   Commanded vehicle depth:  294.28256 
#   Seafloor depth:           -394.626021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.238314 meters
#   Minimum depth: 338.928656 meters looking forward 200.000000 meters along route
#   Maximum depth: 393.241656 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 288.928656 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793098;
longitude = -122.096144;
duration = 404;
initialDepth = 273.290441;
finalDepth = 288.928656;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.343461
#   Actual altitude:          100
#   Commanded vehicle depth:  288.928656 
#   Seafloor depth:           -341.879814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.238080 meters
#   Minimum depth: 323.290441 meters looking forward 200.000000 meters along route
#   Maximum depth: 343.158709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 273.290441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793892;
longitude = -122.095583;
duration = 404;
initialDepth = 258.552013;
finalDepth = 273.290441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.386475
#   Actual altitude:          65.386475
#   Commanded vehicle depth:  273.290441 
#   Seafloor depth:           -338.676916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.883958 meters
#   Minimum depth: 308.552013 meters looking forward 200.000000 meters along route
#   Maximum depth: 337.407883 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 258.552013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794685;
longitude = -122.095023;
duration = 407;
initialDepth = 251.335763;
finalDepth = 258.552013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.386475
#   Actual altitude:          65.386475
#   Commanded vehicle depth:  258.552013 
#   Seafloor depth:           -322.867077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 107.267679 meters
#   Minimum depth: 301.335763 meters looking forward 200.000000 meters along route
#   Maximum depth: 320.857319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 251.335763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795484;
longitude = -122.094460;
duration = 429;
initialDepth = 251.335763;
finalDepth = 251.335763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.315064
#   Actual altitude:          64.315064
#   Commanded vehicle depth:  251.335763 
#   Seafloor depth:           -308.605993
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 171.887988 meters
#   Minimum depth: 301.335763 meters looking forward 200.000000 meters along route
#   Maximum depth: 371.186776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 251.335763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796325;
longitude = -122.093866;
duration = 687;
# abortOnTimeout    = True; 
initialDepth = 284.126836;
finalDepth = 251.335763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.27023
#   Actual altitude:          57.27023
#   Commanded vehicle depth:  251.335763 
#   Seafloor depth:           -301.802246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 103.159582 meters
#   Minimum depth: 334.126836 meters looking forward 200.000000 meters along route
#   Maximum depth: 417.280988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 284.126836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795687;
longitude = -122.092110;
duration = 412;
initialDepth = 311.768362;
finalDepth = 284.126836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.350691
#   Actual altitude:          91.350691
#   Commanded vehicle depth:  284.126836 
#   Seafloor depth:           -375.477527
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.254023 meters
#   Minimum depth: 381.307673 meters looking forward 200.000000 meters along route
#   Maximum depth: 458.179591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 311.768362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795304;
longitude = -122.091057;
duration = 421;
initialDepth = 339.971092;
finalDepth = 311.768362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.693798805336
#   Actual altitude:          100
#   Commanded vehicle depth:  311.768362194664 
#   Seafloor depth:           -421.462161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.692100 meters
#   Minimum depth: 423.116004 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.213357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 339.971092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794913;
longitude = -122.089982;
duration = 438;
initialDepth = 369.363001;
finalDepth = 339.971092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.323251846152
#   Actual altitude:          100
#   Commanded vehicle depth:  339.971092153848 
#   Seafloor depth:           -457.294344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.640372 meters
#   Minimum depth: 460.854903 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.887826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.363001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794506;
longitude = -122.088862;
duration = 402;
initialDepth = 396.329507;
finalDepth = 369.363001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       128.183127760113
#   Actual altitude:          100
#   Commanded vehicle depth:  369.363001239887 
#   Seafloor depth:           -497.546129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 107.776004 meters
#   Minimum depth: 500.604851 meters looking forward 200.000000 meters along route
#   Maximum depth: 568.787833 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.329507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794132;
longitude = -122.087834;
duration = 431;
initialDepth = 425.208000;
finalDepth = 396.329507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       145.588652838455
#   Actual altitude:          100
#   Commanded vehicle depth:  396.329507161545 
#   Seafloor depth:           -541.918160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 110.709393 meters
#   Minimum depth: 544.784057 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.576806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 425.208000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793732;
longitude = -122.086733;
duration = 442;
initialDepth = 454.872492;
finalDepth = 425.208000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       147.246031119066
#   Actual altitude:          100
#   Commanded vehicle depth:  425.207999880934 
#   Seafloor depth:           -572.454031
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 108.678227 meters
#   Minimum depth: 579.716191 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.226019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.872492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793321;
longitude = -122.085602;
duration = 434;
initialDepth = 483.992734;
finalDepth = 454.872492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       147.246031119066
#   Actual altitude:          100
#   Commanded vehicle depth:  454.872491799919 
#   Seafloor depth:           -589.743918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.809165 meters
#   Minimum depth: 603.457106 meters looking forward 200.000000 meters along route
#   Maximum depth: 678.271755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.992734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792918;
longitude = -122.084492;
duration = 439;
initialDepth = 513.416011;
finalDepth = 483.992734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       159.882021560767
#   Actual altitude:          100
#   Commanded vehicle depth:  483.992734439233 
#   Seafloor depth:           -643.874756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.580467 meters
#   Minimum depth: 646.959370 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.959740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.416011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792510;
longitude = -122.083371;
duration = 438;
initialDepth = 542.778008;
finalDepth = 513.416011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       164.787938003077
#   Actual altitude:          100
#   Commanded vehicle depth:  513.416010996923 
#   Seafloor depth:           -678.203949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.695571 meters
#   Minimum depth: 676.717348 meters looking forward 200.000000 meters along route
#   Maximum depth: 738.780696 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.778008 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792103;
longitude = -122.082252;
duration = 438;
initialDepth = 572.170847;
finalDepth = 542.778008;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       164.787938003077
#   Actual altitude:          100
#   Commanded vehicle depth:  542.778008111297 
#   Seafloor depth:           -694.617877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.696074 meters
#   Minimum depth: 699.347237 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.647899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 572.170847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791696;
longitude = -122.081131;
duration = 438;
initialDepth = 601.563821;
finalDepth = 572.170847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       167.091794751034
#   Actual altitude:          100
#   Commanded vehicle depth:  572.170847248966 
#   Seafloor depth:           -739.262642
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 108.008659 meters
#   Minimum depth: 719.522202 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.647899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 601.563821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791289;
longitude = -122.080011;
duration = 432;
initialDepth = 630.504654;
finalDepth = 601.563821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       167.091794751034
#   Actual altitude:          100
#   Commanded vehicle depth:  601.563821165076 
#   Seafloor depth:           -743.509695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.415267 meters
#   Minimum depth: 710.879649 meters looking forward 200.000000 meters along route
#   Maximum depth: 742.560488 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.504654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790888;
longitude = -122.078908;
duration = 401;
initialDepth = 640.035062;
finalDepth = 630.504654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       141.945873834924
#   Actual altitude:          100
#   Commanded vehicle depth:  630.504653602717 
#   Seafloor depth:           -716.870882
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.697533 meters
#   Minimum depth: 690.035062 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.330891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.035062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790515;
longitude = -122.077882;
duration = 438;
initialDepth = 639.356752;
finalDepth = 640.035062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.2958289999999
#   Actual altitude:          91.2958289999999
#   Commanded vehicle depth:  640.035062 
#   Seafloor depth:           -731.330891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.489389 meters
#   Minimum depth: 689.356752 meters looking forward 200.000000 meters along route
#   Maximum depth: 724.427010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 639.356752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790108;
longitude = -122.076762;
duration = 421;
initialDepth = 617.118362;
finalDepth = 639.356752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.2958289999999
#   Actual altitude:          91.2958289999999
#   Commanded vehicle depth:  639.356752 
#   Seafloor depth:           -689.356752
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 54.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.937309 meters
#   Minimum depth: 667.118362 meters looking forward 200.000000 meters along route
#   Maximum depth: 700.057456 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 617.118362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789716;
longitude = -122.075685;
duration = 411;
initialDepth = 603.478573;
finalDepth = 617.118362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.490604
#   Actual altitude:          79.490604
#   Commanded vehicle depth:  617.118362 
#   Seafloor depth:           -696.608966
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.698993 meters
#   Minimum depth: 653.478573 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.603151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 603.478573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789334;
longitude = -122.074634;
duration = 438;
initialDepth = 603.478573;
finalDepth = 603.478573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.490604
#   Actual altitude:          79.490604
#   Commanded vehicle depth:  603.478573 
#   Seafloor depth:           -666.177025
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.970053 meters
#   Minimum depth: 653.478573 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.024990 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 603.478573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788927;
longitude = -122.073513;
duration = 411;
initialDepth = 602.212333;
finalDepth = 603.478573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.698452
#   Actual altitude:          62.698452
#   Commanded vehicle depth:  603.478573 
#   Seafloor depth:           -661.114819
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.459418 meters
#   Minimum depth: 652.212333 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.024990 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 602.212333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788545;
longitude = -122.072462;
duration = 421;
initialDepth = 576.143350;
finalDepth = 602.212333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.3737180000001
#   Actual altitude:          61.3737180000001
#   Commanded vehicle depth:  602.212333 
#   Seafloor depth:           -663.586051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 109.700452 meters
#   Minimum depth: 626.143350 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.760071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 576.143350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788153;
longitude = -122.071385;
duration = 438;
initialDepth = 545.916369;
finalDepth = 576.143350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.8794849999999
#   Actual altitude:          75.8794849999999
#   Commanded vehicle depth:  576.14335 
#   Seafloor depth:           -652.022835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.450650 meters
#   Minimum depth: 595.916369 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.136050 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 545.916369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787746;
longitude = -122.070264;
duration = 401;
initialDepth = 507.667406;
finalDepth = 545.916369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.889357
#   Actual altitude:          75.889357
#   Commanded vehicle depth:  545.916369 
#   Seafloor depth:           -621.805726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 107.981594 meters
#   Minimum depth: 557.667406 meters looking forward 200.000000 meters along route
#   Maximum depth: 621.443261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.667406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787373;
longitude = -122.069238;
duration = 431;
initialDepth = 480.894125;
finalDepth = 507.667406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.311412
#   Actual altitude:          87.311412
#   Commanded vehicle depth:  507.667406 
#   Seafloor depth:           -594.978818
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.395061 meters
#   Minimum depth: 530.894125 meters looking forward 200.000000 meters along route
#   Maximum depth: 587.350815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 480.894125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786972;
longitude = -122.068136;
duration = 409;
initialDepth = 432.511296;
finalDepth = 480.894125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       87.311412
#   Actual altitude:          87.311412
#   Commanded vehicle depth:  480.894125 
#   Seafloor depth:           -560.972447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 128.383827 meters
#   Minimum depth: 482.511296 meters looking forward 200.000000 meters along route
#   Maximum depth: 551.073657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.511296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786592;
longitude = -122.067090;
duration = 513;
# abortOnTimeout    = True; 
initialDepth = 389.299679;
finalDepth = 432.511296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.31924
#   Actual altitude:          95.31924
#   Commanded vehicle depth:  432.511296 
#   Seafloor depth:           -527.830536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.649677 meters
#   Minimum depth: 439.299679 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.774557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.299679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787581;
longitude = -122.066343;
duration = 406;
initialDepth = 329.827472;
finalDepth = 389.299679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.31924
#   Actual altitude:          95.31924
#   Commanded vehicle depth:  389.299679 
#   Seafloor depth:           -481.434042
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 110.201931 meters
#   Minimum depth: 379.827472 meters looking forward 200.000000 meters along route
#   Maximum depth: 473.091240 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 329.827472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788364;
longitude = -122.065752;
duration = 440;
initialDepth = 257.526465;
finalDepth = 329.827472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.161335
#   Actual altitude:          100
#   Commanded vehicle depth:  329.827472 
#   Seafloor depth:           -435.988807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.350457 meters
#   Minimum depth: 307.526465 meters looking forward 200.000000 meters along route
#   Maximum depth: 423.811774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 257.526465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789213;
longitude = -122.065111;
duration = 401;
initialDepth = 191.988038;
finalDepth = 257.526465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       120.862897
#   Actual altitude:          100
#   Commanded vehicle depth:  257.526465 
#   Seafloor depth:           -378.389362
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.275779 meters
#   Minimum depth: 241.988038 meters looking forward 200.000000 meters along route
#   Maximum depth: 376.509292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 191.988038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789987;
longitude = -122.064527;
duration = 421;
initialDepth = 169.470394;
finalDepth = 191.988038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       120.862897
#   Actual altitude:          100
#   Commanded vehicle depth:  191.988038 
#   Seafloor depth:           -303.378487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.275502 meters
#   Minimum depth: 219.470394 meters looking forward 200.000000 meters along route
#   Maximum depth: 296.021085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 169.470394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790798;
longitude = -122.063915;
duration = 421;
initialDepth = 151.220024;
finalDepth = 169.470394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       111.390449
#   Actual altitude:          100
#   Commanded vehicle depth:  169.470394 
#   Seafloor depth:           -239.097026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.275225 meters
#   Minimum depth: 201.220024 meters looking forward 200.000000 meters along route
#   Maximum depth: 234.676700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.220024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791609;
longitude = -122.063302;
duration = 421;
initialDepth = 133.257916;
finalDepth = 151.220024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.626632
#   Actual altitude:          69.626632
#   Commanded vehicle depth:  151.220024 
#   Seafloor depth:           -218.643746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.274949 meters
#   Minimum depth: 183.257916 meters looking forward 200.000000 meters along route
#   Maximum depth: 215.968224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 133.257916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792420;
longitude = -122.062690;
duration = 421;
initialDepth = 122.732871;
finalDepth = 133.257916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.423722
#   Actual altitude:          67.423722
#   Commanded vehicle depth:  133.257916 
#   Seafloor depth:           -198.922649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.274671 meters
#   Minimum depth: 172.732871 meters looking forward 200.000000 meters along route
#   Maximum depth: 197.552191 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 122.732871 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793231;
longitude = -122.062078;
duration = 421;
initialDepth = 106.642307;
finalDepth = 122.732871;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.664733
#   Actual altitude:          65.664733
#   Commanded vehicle depth:  122.732871 
#   Seafloor depth:           -183.140200
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.274395 meters
#   Minimum depth: 156.642307 meters looking forward 200.000000 meters along route
#   Maximum depth: 181.736271 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 106.642307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794042;
longitude = -122.061465;
duration = 421;
initialDepth = 98.674738;
finalDepth = 106.642307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.648011
#   Actual altitude:          64.648011
#   Commanded vehicle depth:  106.642307 
#   Seafloor depth:           -171.290318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.274118 meters
#   Minimum depth: 148.674738 meters looking forward 200.000000 meters along route
#   Maximum depth: 169.880755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 98.674738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794853;
longitude = -122.060853;
duration = 421;
initialDepth = 91.052779;
finalDepth = 98.674738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.648011
#   Actual altitude:          64.648011
#   Commanded vehicle depth:  98.674738 
#   Seafloor depth:           -156.619917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 106.413906 meters
#   Minimum depth: 141.052779 meters looking forward 200.000000 meters along route
#   Maximum depth: 156.111698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 91.052779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795664;
longitude = -122.060240;
duration = 425;
initialDepth = 76.971048;
finalDepth = 91.052779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.945179
#   Actual altitude:          57.945179
#   Commanded vehicle depth:  91.052779 
#   Seafloor depth:           -148.115880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 104.133500 meters
#   Minimum depth: 126.971048 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.311544 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 76.971048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796484;
longitude = -122.059621;
duration = 416;
initialDepth = 65.926896;
finalDepth = 76.971048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.956606
#   Actual altitude:          63.956606
#   Commanded vehicle depth:  76.971048 
#   Seafloor depth:           -140.927654
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 107.711994 meters
#   Minimum depth: 115.926896 meters looking forward 200.000000 meters along route
#   Maximum depth: 139.671431 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 65.926896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797287;
longitude = -122.059016;
duration = 430;
initialDepth = 59.078051;
finalDepth = 65.926896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.956606
#   Actual altitude:          63.956606
#   Commanded vehicle depth:  65.926896 
#   Seafloor depth:           -125.407922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 102.834305 meters
#   Minimum depth: 109.078051 meters looking forward 200.000000 meters along route
#   Maximum depth: 123.404964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 59.078051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798117;
longitude = -122.058389;
duration = 411;
initialDepth = 56.901477;
finalDepth = 59.078051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.481026
#   Actual altitude:          59.481026
#   Commanded vehicle depth:  59.078051 
#   Seafloor depth:           -115.506469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.272734 meters
#   Minimum depth: 106.901477 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.352177 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 56.901477 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798909;
longitude = -122.057791;
duration = 421;
initialDepth = 55.073716;
finalDepth = 56.901477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.428418
#   Actual altitude:          56.428418
#   Commanded vehicle depth:  56.901477 
#   Seafloor depth:           -109.132145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.029861 meters
#   Minimum depth: 105.073716 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.018374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 55.073716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799720;
longitude = -122.057178;
duration = 400;
initialDepth = 50.260144;
finalDepth = 55.073716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.230668
#   Actual altitude:          52.230668
#   Commanded vehicle depth:  55.073716 
#   Seafloor depth:           -106.528565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 102.703035 meters
#   Minimum depth: 100.260144 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.464870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 50.260144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800491;
longitude = -122.056596;
duration = 410;
initialDepth = 50.238882;
finalDepth = 50.260144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.902772
#   Actual altitude:          54.902772
#   Commanded vehicle depth:  50.260144 
#   Seafloor depth:           -105.162916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.902772
#   Sonar parameter altitude: 54.902772
#   Commanded vehicle depth:  50.238882 
#   Seafloor depth:           -100.238882
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 38;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000066;
MB_Bottom_Detect_Filter_Min_Range = 32.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 100.238882 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.464870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1227.787293 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 50.238882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.801282;
longitude = -122.055999;
duration = 600;
depth = 50.238882;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
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 = 300.000;
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 = 200.00;
MB_Rate = 3;
MB_Gain = 38;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000066;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
